The Illinois Roadway Simulator: a mechatronic testbed for vehicle dynamics and control

Brennan, Sean; Alleyne, Andrew G.

doi:10.1109/3516.891046

Cited by 42 publications

(12 citation statements)

References 22 publications

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“…This discrepancy is most clearly explained by noting that the scale vehicle matches the bicycle model quite well, whereas the full-size vehicle does not match this simple model. Instead, the full-size vehicle apparently matches the modified bicycle and roll models that include the tire-lag phenomenon [Equations (26) and (28)]. This need to include tire lag effects for full-size vehicle modelling is already well known and previously published [56].…”

Section: Behaviour Comparison Between Full-sized Vehicle and Scaled Vmentioning

confidence: 93%

Fidelity of using scaled vehicles for chassis dynamic studies

Lapapong

Gupta

Callejas

et al. 2009

Vehicle System Dynamics

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There are many situations where physical testing of a vehicle or vehicle controller is necessary, yet use of a full-size vehicle is not practical. Some situations include implementation testing of novel actuation strategies, analysing the behaviour of chassis feedback control under system faults, or nearunstable situations such as limit handling under driver-assist feedback control. Historically, many have advocated the use of scale vehicles as surrogates for larger vehicles. This article presents analysis and experimental testing that examines the fidelity of using scaled vehicles for vehicle chassis dynamics and control studies. In support of this effort, this work introduces an experimental system called the Pennsylvania State University Rolling Roadway Simulator (the PURRS). In the PURRS, a custom-built scale-sized vehicle is freely driven on a moving roadway surface. While others have used scalevehicle rolling roadway simulators in the past, this work is the first to attempt to directly match the planar dynamic performance of the scale-sized vehicle to a specific full-sized vehicle by careful design of the scale vehicle. This article explains details of this effort including vehicle dynamic modelling, detailed measurement of model parameters, conditions for dynamic similitude, validation of the resulting experimental vehicle in the time, frequency, and dimensionless domains. The results of the dynamic comparisons between scale-and full-sized vehicles clearly illustrate operational regimes where agreement is quite good, and other regimes where agreement is quite poor. Both are useful to understand the applicability of scale-vehicle results to full-size vehicle analysis.

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Section: Behaviour Comparison Between Full-sized Vehicle and Scaled Vmentioning

confidence: 93%

Fidelity of using scaled vehicles for chassis dynamic studies

Lapapong

Gupta

Callejas

et al. 2009

Vehicle System Dynamics

Self Cite

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“…biologists on different types of animals [51]- [53]. Further details on the IRS design and construction can be found in [54] and [55]. The IRS is a control validation experiment because careful design eliminated many of the details associated with an actual vehicle.…”

Section: Serendipitous Discovery and New Pathsmentioning

confidence: 99%

Controls and experiments: lessons learned

Alleyne

Brennan

Rasmussen³

et al. 2003

IEEE Control Syst.

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“…Most riders underestimate motorcycle dynamics and often ride at too great a speed, making it practically impossible to maintain control of the vehicle in dangerous or unforeseen situations. Motion cueing platforms constitute an effective simulation tool to perform various studies on a "vehicle" in a safe environment [6]. The goal of these is to reproduce driving situations, close to reality, in a restricted space to adequately excite the perceptual mechanisms of the human rider.…”

Section: Introductionmentioning

confidence: 99%

Mechatronics, Design, and Modeling of a Motorcycle Riding Simulator

Arioui

Nehaoua

Hima³

et al. 2010

IEEE/ASME Trans. Mechatron.

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Abstract-This paper describes a new motorcycle riding simulator whose purpose is twofold: (1) it can be used as a training tool for new riders in different scenarios, such as a normal traffic environments or in dangerous riding situations (avoidance, emergency braking, nearly failing or slipping situations and bad weather conditions); and (2) it can be used to study cyclist behavior in such situations and rider-motorcycle interaction.Our studies have led to the development of an original five degrees-of-freedom (DOF) mechanical platform including double haptic feedback on the handlebar. The remaining components are the basic movements consisting of pitch, roll, and yaw. These components are gathered in a parallel kinematics-type platform to enhance the movement bandwidth of the two-wheeled riding simulator.Despite its simplicity, the particular appeal of this simulator lies in the possibility of reproducing important motorcycle movements and inertial effects which allow for the perception of sensations close to reality. The motivation behind the choice of platform movements and system actuation are described. Also, theoretical issues (modeling, identification and control aspects) and performance results are provided.

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The Illinois Roadway Simulator: a mechatronic testbed for vehicle dynamics and control

Cited by 42 publications

References 22 publications

Fidelity of using scaled vehicles for chassis dynamic studies

Fidelity of using scaled vehicles for chassis dynamic studies

Controls and experiments: lessons learned

Mechatronics, Design, and Modeling of a Motorcycle Riding Simulator

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