Vehicle Models for RTS Applications

Sayers, Michael W.

doi:10.1076/vesd.32.4.421.2082

Cited by 41 publications

(17 citation statements)

References 6 publications

(7 reference statements)

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“…Nevertheless, engineers using these programs should learn how to develop a model that comprises essential components. According to Sayers, deriving equations of motion manually and fine-tuning simulation systems that are going to solve these equations are proper methodologies for real-time applications [1].…”

Section: Introductionmentioning

confidence: 99%

Vehicle dynamics analysis of a heavy-duty commercial vehicle by using multibody simulation methods

Hasagasioglu¹,

Kilicaslan²,

Atabay

et al. 2011

Int J Adv Manuf Technol

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In this paper, the computer-aided vehicle dynamics analysis of a 6×2 heavy-duty commercial vehicle is examined. For the analysis, Mechanical Simulation Corporation's TruckSim multibody dynamics simulation and SuspensionSim multibody statics simulation softwares are used. The aim of this study is to design and model the front suspension and tandem rear axle suspensions, compose the full-vehicle model representing the real-life vehicle, and examine the dynamic behavior of this model. The models related to the front and rear suspensions are prepared and solved in SuspensionSim and the solutions are imported thereafter to TruckSim. The full-vehicle model excluding the suspension system is formed by using TruckSim. The simulation scenarios, runs of which are made to observe the effects of different parameters concerning the dynamic behavior of the full-vehicle model, are also prepared in TruckSim environment.

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Section: Introductionmentioning

confidence: 99%

Vehicle dynamics analysis of a heavy-duty commercial vehicle by using multibody simulation methods

Hasagasioglu¹,

Kilicaslan²,

Atabay

et al. 2011

Int J Adv Manuf Technol

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“…The system has been used over a wide range of mechanical dynamic problems, mainly in connection with vehicle dynamics (Sharp et al 2005(Sharp et al , 2004, (Mousseau et al 1992), (Sayers et al 1999), (Tomás-Rodríguez et al 2007) and it has provided the basis for the commercial simulation codes TruckSim, CarSim and BikeSim (http://www.carsim.com/). VehicleSim is a set of LISP macros (Steele et al 1984), enabling the description of mechanical multibody systems, with possible addition of non-mechanical subsystems.…”

Section: Dynamical Modelling Tool: Vehiclesimmentioning

confidence: 99%

Vibration reduction for vision systems on board unmanned aerial vehicles using a neuro-fuzzy controller

Marichal

Tomás-Rodrı́guez

Hernández

et al. 2013

Journal of Vibration and Control

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This is the accepted version of the paper.This version of the publication may differ from the final published version. In this paper, an intelligent control approach based on Neuro-Fuzzy systems performance is presented with the objective of counteracting the vibrations that affect the low-cost vision platform onboard an unmanned aerial system of rotating nature. Permanent repository linkA scaled dynamical model of a helicopter is used to simulate vibrations on its fuselage. The impact of these vibrations on the low-cost vision system will be assessed and an intelligent control approach will be derived in order to reduce its detrimental influence.Different trials that consider a Neuro-Fuzzy approach as a fundamental part of an intelligent semi-active control strategy have been carried out. Satisfactory results have been achieved compared to those obtained by means of vibration reduction passive techniques.

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“…The mathematical model of the unicycle and rider is built using the multibodymodelling software VEHICLESIM, formerly called AUTOSIM (Mousseau et al 1992;Sayers 1999;Sharp et al 2005; also see http://www.carsim.com). The package has been employed to develop the widely used commercial models TRUCKSIM, CARSIM and BIKESIM.…”

Section: Mathematical Model Of Unicycle and Ridermentioning

confidence: 99%

On the stability and control of unicycles

Sharp

2010

Proc. R. Soc. A.

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A mathematical model of a unicycle and rider, with a uniquely realistic tyre force and moment representation, is set up with the aid of multibody modelling software. The rider's upper body is joined to the lower body through a spherical joint, so that wheel, yaw, pitch and roll torques are available for control. The rider's bandwidth is restricted by low-pass filters. The linear equations describing small perturbations from a straightrunning state are shown, which equations derive from a parallel derivation yielding the same eigenvalues as obtained from the first method. A nonlinear simulation model and the linear model for small perturbations from a general trim (or dynamic equilibrium) state are constructed. The linear model is used to reveal the stability properties for the uncontrolled machine and rider near to straight running, and for the derivation of optimal controls. These controls minimize a cost function made up of tracking errors and control efforts. Optimal controls for near-straight-running conditions, with left/right symmetry, and more complex ones for cornering trims are included. Frequency responses of some closed-loop systems, from the former class, demonstrate excellent path-tracking qualities within bandwidth and amplitude limits. Controls are installed for path-following trials. Lane-change and clothoid manoeuvres are simulated, demonstrating good-quality tracking of longitudinal and lateral demands. Pitch torque control is little used by the rider, while yaw and roll torques are complementary, with the former being more useful in transients, while the latter has value also in steady states. Wheel torque is influential on lateral control in turning. Adaptive control by gain switching is used to enable clothoid tracking up to lateral accelerations greater than 1 m s −2 . General control of the motions of a virtual or robotic unicycle will be possible through the addition of more comprehensive adaptation to the control scheme described.

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Vehicle Models for RTS Applications

Cited by 41 publications

References 6 publications

Vehicle dynamics analysis of a heavy-duty commercial vehicle by using multibody simulation methods

Vehicle dynamics analysis of a heavy-duty commercial vehicle by using multibody simulation methods

Vibration reduction for vision systems on board unmanned aerial vehicles using a neuro-fuzzy controller

On the stability and control of unicycles

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