Dynamic Autonomous Car Mobile Analysis Simulating Mechanical Systems Analysis – First Dynamic Characteristics of Running Mouse –

1998 ◽  
Vol 10 (6) ◽  
pp. 488-493
Author(s):  
Shigeki Toyama ◽  
◽  
Yasuo Murakuki
Keyword(s):  
Dynamic Characteristics ◽  
Systems Analysis ◽  
Tracking Control ◽  
Mechanical Systems ◽  
Dc Motor ◽  
Path Tracking ◽  
Running Performance ◽  
Tire Force ◽  
Simulation Results

This paper dynamically simulates a small running 2DW2C automobile (mouse) and simulates path tracking control. Our purpose was to optimize mouse design using simulation results. We added tire force and DC motor force to A1 Motion, a simulator for analyzing mechanical systems developed in our laboratory, and improved the simulator simulating a running automobile. Experiments with a small 2DW2C automobile compared experimental and simulation results involving dynamic characteristics of an actual mouse. We got correct simulation results using this model and simulator. We studied its running performance, affected by its wheelbase and caster length, and evaluated path tracking control using closoidal curves.

Digital robust preview control of path tracking

2005 ◽  
Vol 219 (1) ◽  
pp. 111-116
Author(s):  
Y G Tan ◽  
D K Liu ◽  
F Liu ◽  
Z D Zhou
Keyword(s):  
Control Systems ◽  
Tracking Control ◽  
Control Method ◽  
Path Tracking ◽  
Trajectory Control ◽  
Control Problems ◽  
Preview Control ◽  
Input Signals ◽  
Simulation Results ◽  
Reference Input

A robust optimal preview control method is presented in this paper for path tracking control problems to improve robustness and tracking precision of path tracking control systems. The known path information is used as reference input signals. Simulation results show that this method is valid not only for improving the performance of highly accurate trajectory control but also for improving system stabilization.

scholarly journals Nonlinear Straight Path Tracking Control for an Articulated Steering Type Vehicle(Mechanical Systems)

2010 ◽  
Vol 76 (763) ◽  
pp. 619-626
Author(s):  
Naoji SHIROMA ◽  
Satoshi ISHIKAWA ◽  
Kousuke INOUE ◽  
Yasuhiro FUKUOKA ◽  
Yoshikazu MORI
Keyword(s):  
Tracking Control ◽  
Mechanical Systems ◽  
Path Tracking ◽  
Straight Path

Comprehensive Analysis for Influence of Controllable Damper Time Delay on Semi-Active Suspension Control Strategies

2017 ◽  
Vol 139 (3) ◽  
Author(s):  
Yechen Qin ◽  
Feng Zhao ◽  
Zhenfeng Wang ◽  
Liang Gu ◽  
Mingming Dong
Keyword(s):  
Time Delay ◽  
Dynamic Characteristics ◽  
Ride Comfort ◽  
Hybrid Control ◽  
Sliding Mode ◽  
Control Strategies ◽  
Active Suspension ◽  
Test System ◽  
Suspension Control ◽  
Simulation Results

This paper presents a comprehensive comparison and analysis for the effect of time delay on the five most representative semi-active suspension control strategies, and refers to four unsolved problems related to semi-active suspension performance and delay mechanism that existed. Dynamic characteristics of a commercially available continuous damping control (CDC) damper were first studied, and a material test system (MTS) load frame was used to depict the velocity-force map for a CDC damper. Both inverse and boundary models were developed to determine dynamic characteristics of the damper. In addition, in order for an improper damper delay of the form t+τ to be corrected, a delay mechanism of controllable damper was discussed in detail. Numerical simulation for five control strategies, i.e., modified skyhook control SC, hybrid control (HC), COC, model reference sliding mode control (MRSMC), and integrated error neuro control (IENC), with three different time delays: 5 ms, 10 ms, and 15 ms was performed. Simulation results displayed that by changing control weights/variables, performance of all five control strategies varied from being ride comfort oriented to being road handling oriented. Furthermore, increase in delay time resulted in deterioration of both ride comfort and road handling. Specifically, ride comfort was affected more than road handling. The answers to all four questions were finally provided according to simulation results.

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