Dynamics of Four-Wheel-Steer Off-Highway Vehicles

Metz, L. Daniel

doi:10.4271/930765

Cited by 33 publications

(19 citation statements)

References 17 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Based on the Metz tire model [7], for the travel on any surface, C F α can be found as a function of the tire normal load F z and the surface properties (see Appendix A). Similarly, the aligning moment M z is…”

Section: Linearized Model Of Vehiclementioning

confidence: 99%

Robust state feedback stabilization of articulated steer vehicles

Azad

Khajepour

McPhee

2007

Vehicle System Dynamics

View full text Add to dashboard Cite

In this work, a full-state feedback controller is designed to prevent the oscillatory instability or snaking behaviour of an articulated steer vehicle. To design the controller, first, a linearized model of the vehicle is developed and analyzed to identify the most important uncertain tire parameters with regard to the snaking mode. By using this linearized model, the equations of motion are represented in the form of a polytopic system, which depends affinely on the most important uncertain tire parameters. Then, by solving some linear matrix inequalities, both the Lyapunov and state feedback matrices for the robust stabilization of the vehicle are found. The performance of the resulting controller is evaluated by conducting several simulations based on the linearized model. To verify the results from the linearized model analysis, some simulations are also done by a virtual prototype of the vehicle in ADAMS. The results based on the linearized model are reasonably consistent with those from the simulations in ADAMS. They show that the controller can effectively stabilize the vehicle during the snaking mode in different driving conditions.

show abstract

Section: Linearized Model Of Vehiclementioning

confidence: 99%

Robust state feedback stabilization of articulated steer vehicles

Azad

Khajepour

McPhee

2007

Vehicle System Dynamics

View full text Add to dashboard Cite

show abstract

“…The tires on mining trucks have four major functions: (i) support its weight including sinkage/mobility and soil compaction effects, (ii) isolate the truck and driver over surface irregularities, (iii) provide traction for mobility, stopping, loading and unloading, (iv) provide lateral forces for directional control. The motion and forces generated and transmitted by these tires to perform these functions occur and interact in three dimensions [3]. Individually, controllability and stability of the steering and tire models have been investigated for a long time.…”

Section: Introductionmentioning

confidence: 99%

Simulation of Automated Dump Trucks for Large Scale Surface Mining Operations

Frimpong¹,

Changirwa²,

Szymański³

2003

International Journal of Surface Mining, Reclamation and Enviro

View full text Add to dashboard Cite

“…The mobility number was first defined by using dimensional analysis to model the tire forces; it models the effects of the tire size, load, and soil conditions [17]. Due to the modularity of the approach and of the model implementation in Simulink, other tire models can be adopted.…”

Section: Platform Driveline and Architecturementioning

confidence: 99%

Design Issues and in Field Tests of the New Sustainable Tractor LOCOSTRA

Cepolina¹,

Przybylko

Polentes³

et al. 2014

Robotics

View full text Add to dashboard Cite

This paper presents a robotized small tractor designed to perform humanitarian demining operations and agricultural operations when demining is accomplished. This dual use makes this system unique. The focus is on the design of the machine, including the modeling for design and control, the characteristics of the tools operated by the machine, the motion control at tele-operated, and semi-autonomous levels. The mechatronic design process applied uses sustainable design strategies. Technical contributions are in the tractor architecture, designed to make automation easier, and in the control functions implemented on this architecture. Extensive field tests were performed in different sites; first, in Italy, focusing on the agricultural application of the machine, in natural scenarios with different ground and vegetation; then, in two real mine fields in Jordan focusing on the performance for technical survey in humanitarian demining. The tests have confirmed the performance for both task categories (agricultural and demining), confirming the correctness of the statement. For the demining application, the machine has been assessed by professional users confirming the acceptance to field use and the novelty of the concept.

show abstract

Dynamics of Four-Wheel-Steer Off-Highway Vehicles

Cited by 33 publications

References 17 publications

Robust state feedback stabilization of articulated steer vehicles

Robust state feedback stabilization of articulated steer vehicles

Simulation of Automated Dump Trucks for Large Scale Surface Mining Operations

Design Issues and in Field Tests of the New Sustainable Tractor LOCOSTRA

Contact Info

Product

Resources

About