scholarly journals Hybrid Model-Based Analysis of Underground Articulated Vehicles Steering Characteristics

2019 ◽  
Vol 9 (24) ◽  
pp. 5274
Author(s):  
Lulu Gao ◽  
Chun Jin ◽  
Yuchao Liu ◽  
Fei Ma ◽  
Zhipeng Feng
Keyword(s):  
Dynamic Model ◽  
Hybrid Model ◽  
Field Test ◽  
Steering System ◽  
Underground Mines ◽  
Maximum Deviation ◽  
Model Based ◽  
Articulated Vehicles ◽  
Steering Characteristics ◽  
Hydraulic Power Steering

Owing to the harsh environment of underground mines, autonomous underground articulated vehicles (UAVs) with precise control and positioning system are particularly important. However, the ambiguity of steering characteristics hinders the development of UAVs. This study presents a model-based method to uncover the steering characteristics of a UAV. Firstly, a hybrid model of UAV was established, which included a dynamic model of articulated frames and a model of the hydraulic power steering system. Secondly, a field test of a typical UAV, a load-haul-dump (LHD) with 4 m3 capacity, was carried out. In order to verify the correctness of the established model and the accuracy of the involved parameters, the field test results were used to verify the dynamic model in time and frequency domains. Then, the steering characteristics of the UAV were uncovered based on the verified hybrid model, and the results showed that the increased load would increase ‘oversteering’ under the same articulation angle and that the error of trajectory exceeded 0.3 m. In addition, the deviations of trajectories between the two frames were revealed during the transient steering process, and the maximum deviation reached 0.21 m when the velocity was 2 m/s and the articulation angle was 15°. The comprehensive results indicate that the steering characteristics of UAVs cannot be ignored in regard to precise autonomous control and positioning.

Behavioural modelling and analysis of hybrid vehicle steering systems

2003 ◽  
Vol 217 (5) ◽  
pp. 349-361 ◽  
Author(s):  
V D Mills ◽  
J R Wagner
Keyword(s):  
Electric Motor ◽  
Combustion Engine ◽  
Steering System ◽  
Hybrid Vehicles ◽  
Battery Pack ◽  
Hydraulic Pump ◽  
Power Steering ◽  
Steer By Wire ◽  
Steering Characteristics ◽  
Hydraulic Power Steering

Hybrid vehicles integrate an internal combustion engine, electric motor with accompanying battery pack and generator, and potentially fuel cells to realize greater fuel economy and reduced emission levels. A variety of powertrain operating scenarios exist including engine with belt-driven generator, electric motor using battery pack and/or fuel cell and, finally, engine and electric motor. Automotive subsystems such as hydraulic power steering cannot be consistently powered by a conventional belt-driven hydraulic pump since the engine may be frequently turned off to conserve energy. Thus, a need exists to investigate the dynamic behaviour of various steering systems for hybrid vehicles in terms of platform steering characteristics and power consumption. In this paper, empirical and analytical mathematical models will be presented for power (e.g. hydraulic, electric and steer by wire) rack and pinion steering units. The influence of chassis, tyre-road interface and steering system non-linearities are introduced. Representative numerical results will be presented and discussed to investigate a vehicle's transient response for each steering system configuration.

Nonlinear Modeling and Analysis of Steering Systems for Hybrid Vehicles

2001 ◽  
Author(s):  
Val D. Mills ◽  
John R. Wagner ◽  
Darren M. Dawson
Keyword(s):  
Power Consumption ◽  
Electric Motor ◽  
Combustion Engine ◽  
Nonlinear Modeling ◽  
Steering System ◽  
Hybrid Vehicles ◽  
Modeling And Analysis ◽  
Power Steering ◽  
Steering Characteristics ◽  
Hydraulic Power Steering

Abstract Hybrid vehicles integrate an internal combustion engine, electric motor with accompanying battery pack and generator, and potentially fuel cells to realize greater fuel economy and reduced emission levels. An attractive advantage of multiple energy sources is the increased travel range, reduced stationary recharging times, and availability of greater power for acceleration and payloads. A variety of operating scenarios exist for hybrid vehicle powertrains including engine (and belt driven generator), electric motor using battery back and/or fuel cell, and finally, engine and electric motor. Therefore, automotive subsystems such as hydraulic power steering cannot be consistently powered by a conventional belt driven hydraulic pump since the engine may be frequently turned-off to conserve energy. A need exists to investigate the dynamic behavior of various steering systems for hybrid vehicles in terms of platform steering characteristics, power consumption, and identification of performance requirements for a servo-motor steering system. In this paper, empirical and analytical mathematical models will be presented for power (e.g., hydraulic, electric, and steer-by-wire) rack and pinion steering units. The influence of vehicle and steering system nonlinearities will be introduced for greater accuracy in predicting the vehicle’s transient response. Representative results will be presented and discussed to investigate the response of the vehicle to different driver inputs as the steering system configurations are adjusted. An analysis of the numerical results will ultimately allow the prediction of vehicle trajectory, feedback torque, and power consumption during the driving maneuvers.

scholarly journals A Model-Based Method for Estimating the Attitude of Underground Articulated Vehicles

Sensors ◽  
2019 ◽  
Vol 19 (23) ◽  
pp. 5245 ◽  
Author(s):  
Lulu Gao ◽  
Fei Ma ◽  
Chun Jin
Keyword(s):  
Field Test ◽  
Degrees Of Freedom ◽  
Kinematic Model ◽  
Measurement Unit ◽  
Model Based ◽  
Proposed Model ◽  
Articulated Vehicles ◽  
Free Environment ◽  
And Control ◽  
Novel Model

This paper presents a novel model-based method for estimating the attitude of underground articulated vehicles (UAV). We selected the Load–Haul–Dump (LHD) vehicle as our application object, as it is a typical UAV. First, we established the involved models of the LHD vehicle, including a kinematic model, the linear and angular constraints of a center articulation model, and a dynamic four degrees-of-freedom (DOF) yaw model. Second, we designed a Kalman filter (KF) to integrate the kinematic and constraint models with the data from an inertial measurement unit (IMU), overcoming gyroscope drift and disturbances in external acceleration. In addition, we designed another KF to estimate the yaw based on the dynamic yaw model. The accuracy of the estimations was further enhanced by data fusion. Then, the proposed method was validated by a simulation and a field test under different dynamic conditions. The errors in the estimation of roll, pitch, and yaw were 3.8%, 2.4%, and 4.2%, respectively, in the field test. The estimated longitudinal acceleration was used to obtain the velocity of the LHD vehicle; the error was found to be 1.2%. A comparison of these results to those of other methods showed that the proposed method has high precision. The proposed model-based method will greatly benefit the location, navigation, and control of UAVs without any artificial infrastructure in a global positioning system (GPS)-free environment.

A Novel Model-Based Steering Control for Hydra-Power Articulated Steering Vehicles

2020 ◽  
Author(s):  
Lulu Gao ◽  
Chun Jin ◽  
Yuchao Liu ◽  
Fei Ma ◽  
Zhipeng Feng
Keyword(s):  
Dynamic Model ◽  
Coupled Model ◽  
Steering System ◽  
Dynamic Responses ◽  
Structural Method ◽  
Steering Control ◽  
Nonlinear Dynamic Model ◽  
Model Based ◽  
Hydraulic Steering ◽  
Novel Model

Abstract The hydra-power articulated steering vehicles possess brilliant maneuverability and efficiency, and they were widely applied in mining, construction, agriculture, and forestry. However, the steering characteristic also deduced a serious handling stability problem of this type of vehicle, i.e., oscillation in yaw motion. Previous research only analyzed the stability of the vehicle dynamical system or provided a passive structural method to suppress the oscillation of articulated vehicles. This work presents a novel model-based steering control of articulated steering vehicles. A coupled nonlinear dynamic model was established firstly, in which nonlinear models of the hydraulic system and dynamic model of articulated frames were included. Then the coupled model was validated in time and frequency domain by a field test. The susceptibility of different factors of the system oscillation was investigated by simulation based on the validated model. On this foundation, an optimized scheme of the hydraulic steering system was provided. Further a novel control strategy, in which the articulation angle and corresponding angular velocity were considered together as the control variables of the system, was embedded into the optimized system. Comparing results in dynamic responses of articulated frames, ripples in the hydraulic steering system shown the effectiveness and superiority of the presented method.

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.

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