scholarly journals Concept and Preliminary Simulations of a Driver-Aid System for Transport Tasks of Articulated Vehicles with a Hydrostatic Steering System

2020 ◽  
Vol 10 (17) ◽  
pp. 5747
Author(s):  
Marian J. Łopatka ◽  
Arkadiusz Rubiec
Keyword(s):  
Steering System ◽  
Directional Stability ◽  
Lift Capacity ◽  
Straight Line ◽  
Hydraulic Steering ◽  
Comprehensive Knowledge ◽  
Articulated Vehicles ◽  
Articulated Vehicle ◽  
Use Efficiency ◽  
Wheeled Vehicles

Heavy-wheeled vehicles with articulated hydraulic steering systems are widely used in construction, road building, forestry, and agriculture, as transport units and tool-carriers because they have many unique advantages that are not available in car steering systems, based on the Ackermann principle, such as—high cross-country mobility, excellent maneuverability, and high payload and lift capacity, due to heavy axles components. One problem that limits their speed of operation and use efficiency is that they have poor directional stability. During straight movement, articulated tractors’ deviate from a straight line and permanent driver correction is required. This limits the vehicles’ speed and productivity. In this study, we describe a driver-aid system concept that would improve the directional stability of articulated vehicles. Designing such a system demands a comprehensive knowledge of the reasons for the snaking phenomenon and driver behaviors. The results of our articulated vehicle directional stability investigation are presented. On this basis, we developed models of articulated vehicles with hydraulic steering systems and driver interaction. We next added the stabilizing system to the model. A simulation demonstrated the possibility of directional stability improvement.

Ride and roll/yaw stability analysis of articulated frame steer vehicle with torsio-elastic suspension

2019 ◽  
Vol 234 (7) ◽  
pp. 1958-1971
Author(s):  
Mu Chai ◽  
Wencan Zhang ◽  
Daoyong Wang ◽  
Junjie Chen
Keyword(s):  
Critical Speed ◽  
Steering System ◽  
System Model ◽  
Lateral Acceleration ◽  
Vehicle Model ◽  
Vibration Acceleration ◽  
Elastic Suspension ◽  
Hydraulic Steering ◽  
Articulated Vehicles ◽  
Yaw Stability

An articulated frame steered vehicle model with torsio-elastic suspension is established in Adams/View. The model considered the influence of the hydraulic steering system on the yaw stability of articulated vehicles, thus, the hydraulic steering system is formulated and modeled in MATLAB/Simulink. The ride and roll/yaw stability of the vehicle model is investigated via co-simulation of Adams and Simulink. The Adams vehicle model is verified based on the vibration acceleration responses near the seat position at constant forward speeds. The hydraulic steering system model is validated through the steady-state steering maneuver. Relative ride performance of unsuspended and fully suspended vehicle is investigated in terms of unweighted and frequency-weighted root-mean-square accelerations. The roll and yaw stability of vehicle model with and without suspension at loaded and unloaded conditions are subsequently analyzed in terms of roll angle, roll safety factor, lateral acceleration, critical speed, and so on. The results show that the torsio-elastic suspension can efficiently reduce the vibrations of the vehicle, and the articulated frame steer vehicles applied with torsio-elastic suspension yield slightly lower roll/yaw stability but substantial reductions in the ride vibration levels. The results provide some reference for the suspension and steering system design of articulated engineering vehicle.

On the Backward Path Tracking Control of N-Trailer Systems

2021 ◽  
Vol 1 (1) ◽  
pp. 13-20
Author(s):  
Julius Kolb ◽  
Gunter Nitzsche ◽  
Sebastian Wagner ◽  
Klaus Röbenack
Keyword(s):  
Tracking Control ◽  
Path Tracking ◽  
Stability Conditions ◽  
Control Law ◽  
Exact Linearization ◽  
Lateral Control ◽  
General Stability ◽  
Articulated Vehicles ◽  
Articulated Vehicle ◽  
Wheeled Vehicles

This paper considers the lateral control of articulated wheeled vehicles in backward motion. The parameterized articulated vehicle is composed of a car-like truck and N passive trailers, resulting in one single steerable axle. First a nonlinear path tracking control law based on exact linearization of an offset model is reviewed and the general stability conditions of such systems is presented. Second, a stability analysis for some vehicle cases is performed and verified in simulation. The possible application of this path tracking control law in real world articulated vehicles is discussed, and its limitations are shown.

scholarly journals Modelling and Stability Analysis of Articulated Vehicles

2021 ◽  
Vol 11 (8) ◽  
pp. 3663
Author(s):  
Tianlong Lei ◽  
Jixin Wang ◽  
Zongwei Yao
Keyword(s):  
Stability Analysis ◽  
Critical Velocity ◽  
Equations Of State ◽  
Steering System ◽  
Analysis Model ◽  
Nonlinear Dynamic Model ◽  
Equilibrium Equations ◽  
Eigenvalue Method ◽  
Articulated Vehicles ◽  
The Stability

This study constructs a nonlinear dynamic model of articulated vehicles and a model of hydraulic steering system. The equations of state required for nonlinear vehicle dynamics models, stability analysis models, and corresponding eigenvalue analysis are obtained by constructing Newtonian mechanical equilibrium equations. The objective and subjective causes of the snake oscillation and relevant indicators for evaluating snake instability are analysed using several vehicle state parameters. The influencing factors of vehicle stability and specific action mechanism of the corresponding factors are analysed by combining the eigenvalue method with multiple vehicle state parameters. The centre of mass position and hydraulic system have a more substantial influence on the stability of vehicles than the other parameters. Vehicles can be in a complex state of snaking and deviating. Different eigenvalues have varying effects on different forms of instability. The critical velocity of the linear stability analysis model obtained through the eigenvalue method is relatively lower than the critical velocity of the nonlinear model.

The Development of Marine Autopilot Simulator

2014 ◽  
Vol 602-605 ◽  
pp. 882-886
Author(s):  
Cai Qin Sun ◽  
Ling Jie Zhang ◽  
Jian Bo Sun
Keyword(s):  
Wind Wave ◽  
Steering System ◽  
Wave Flow ◽  
Turbine Engine ◽  
Operation Process ◽  
Ship Steering ◽  
Hydraulic Steering ◽  
Control Research ◽  
Ship Autopilot ◽  
The Mathematical Model

The mathematical model of the ship autopilot system is established which centering on marine hydraulic steering gear, based on the Nomoto ship motion model, and considered the influence of wind, wave, flow and other environmental factors on ship course angle. Depend on this model, the physical-digital hybrid simulation autopilot simulator is developed. This simulator has all of the operating functions of the ship steering system, it can not only simulate the turbine engine working scenarios, but also dynamically display the operation process, and the simulator is applicable to the ship track control research and crew training work.

scholarly journals Experimental Study on Antivibration Control of Electrical Power Steering Systems

2014 ◽  
Vol 2014 ◽  
pp. 1-7 ◽  
Author(s):  
Zhaojian Wang ◽  
Hamid Reza Karimi
Keyword(s):  
Control Strategy ◽  
Controller Design ◽  
Electrical Power ◽  
Steering System ◽  
Steering Wheel ◽  
Bench Test ◽  
Power Steering ◽  
Motor Controller ◽  
Hydraulic Steering ◽  
Wheel Vibration

We focus on the antivibration controller design problem for electrical power steering (EPS) systems. The EPS system has significant advantages over the traditional hydraulic steering system. However, the improper motor controller design would lead to the steering wheel vibration. Therefore, it is necessary to investigate the antivibration control strategy. For the implementation study, we also present the motor driver design and the software design which is used to monitor the sensors and the control signal. Based on the investigation on the regular assistant algorithm, we summarize the difficulties and problems encountered by the regular algorithm. After that, in order to improve the performance of antivibration and the human-like steering feeling, we propose a new assistant strategy for the EPS. The experiment results of the bench test illustrate the effectiveness and flexibility of the proposed control strategy. Compared with the regular controller, the proposed antivibration control reduces the vibration of the steering wheel a lot.

Research on Algorithm to Improve Performance of Fluid-Assisted Polishing

2014 ◽  
Vol 602-605 ◽  
pp. 316-319
Author(s):  
Shao Song Wan ◽  
Jian Cao ◽  
Cong Yan
Keyword(s):  
Steering System ◽  
Steering Wheel ◽  
Response Property ◽  
Work Piece ◽  
Vehicle Handling ◽  
Directional Stability ◽  
Oil Tank ◽  
Input Response ◽  
Basic Experiments ◽  
Polishing Fluid

In present work, the distribution of electric field strength on the surface of work piece was analyzed through ANSYS and theoretical equation. Moreover, the attractive force acting on particles that disperses in ER polishing fluid was calculated. A series of basic experiments were conducted, it is aimed to find out the effective process parameters on the surface roughness using the work piece as electrode. Vehicle handling directional stability has been more and more important, experiments for steering wheel corner step input response, steering oil tank response property, steady state turning and steering angle of all steering wheels were conducted in this paper, the experimental results show that multi-wheel steering system can fulfill its function very well and reach target angle, it provides a new method for researching for the vehicle handling directional stability.

Rollover Warning of Articulated Vehicles Based on a Time-To-Rollover Metric

1999 ◽  
Author(s):  
Bo-Chiuan Chen ◽  
Huei Peng
Keyword(s):  
Real Time ◽  
The Other ◽  
Roll Angle ◽  
Vehicle Speed ◽  
Time Model ◽  
Whole Process ◽  
Articulated Vehicles ◽  
Articulated Vehicle ◽  
The One ◽  
Accuracy Problem

Abstract A Time-To-Rollover (TTR) metric is proposed as the basis to assess rollover threat for an articulated vehicle. Ideally, a TTR metric will accurately “count-down” toward rollover regardless of vehicle speed and steering patterns, so that the level of rollover threat is accurately indicated. To implement TTR in real-time, there are two conflicting requirements. On the one hand, a faster-than-real-time model is needed. On the other hand, the TTR predicted by this model needs to be accurate enough under all driving scenarios. An innovative approach is proposed in this paper to solve this dilemma and the whole process is illustrated in a design example. First, a simple yet reasonably accurate yaw/roll model is identified. A Neural Network (NN) is then developed to mitigate the accuracy problem of this simplified real-time model. The NN takes the TTR generated by the simplified model, vehicle roll angle and change of roll angle to generate an enhanced NN-TTR index. The NN was trained and verified under a variety of driving patterns. It was found that an accurate TTR is achievable across all the driving scenarios we tested.

Sign in / Sign up

Export Citation Format

Share Document