Handling performance control for hybrid 8-wheel-drive vehicle and simulation verification

Ni, Jun; Hu, Jibin

doi:10.1080/00423114.2016.1169303

Cited by 17 publications

(6 citation statements)

References 25 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…A EKF (Extend Kalman Filter) is designed to process the nonlinear dynamic models based on the nonlinear dynamic model as shown in equations ( 5)- (7). The following information can be easy to get from sensors installed on the vehicle: longitude accelerate, lateral accelerate, yaw angular accelerate, motor driven torque, and wheel angular velocity.…”

Section: The Ekf Kalman Filtermentioning

confidence: 99%

“…Kim et al 2–5 did much research on skid-steered wheeled vehicle based on a robotic vehicle with articulated suspension (RVAS) using skid-steering principle, including dynamic model establishing, driving torque distribution, slip ratio control, and vehicle motion control. Ni and Hu 1,6–9 also did lots of study on skid-steered wheeled vehicle. Their research concentrates on skid-steering mechanism and motion control.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

An observation algorithm for key motion states of skid-steered wheeled unmanned vehicle

Zhang

Pei

Yin

et al. 2021

Proceedings of the Institution of Mechanical Engineers, Part D:

View full text Add to dashboard Cite

With the increasing demand of military and civilian in the intelligent vehicles, the skid-steering theory has been widely used in unmanned ground vehicles, especially in unmanned military vehicles and unmanned surveillance platforms. Due to its driving environment complex and variable, which requires stricter dynamic control system. In order to improve the active safety performance of the skid-steering unmanned vehicle and develop the key technologies such as behavior decision planning technology, path tracking, and dynamic control technology, it is necessary to develop the dynamic state parameter observation system based on skid-steering theory. In this paper, an observation using Strong Track External Kalman Filter theory with noise matrix adaptive is designed to estimate vehicle kinematic parameters based on a 6 × 6 skid-steered unmanned vehicle. First, kinematic and dynamic model is built to analyze the characters of a skid-steered wheeled vehicle. Then a tire force estimation method based on dynamic model is presented to observe the tire longitude and vertical force. The tire force data is also used by Dugoff nonlinear model. Then an External Kalman Filter theory is designed to estimate vehicle kinematic parameters. To increase the accuracy and the robustness of the observer, the Strong Tracking EKF (STEKF) and noise adaptive adjustment is designed. Finally, a combined simulation using TruckSim and Simulink and the experiment using a 6 × 6 skid-steered unmanned vehicle verifies the efficiency of the observer. Results show that the observer is able to estimate the skid-steered wheeled vehicle states, and it also shows that the yaw rate result in the slip angle difference between each tire.

show abstract

Section: The Ekf Kalman Filtermentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

An observation algorithm for key motion states of skid-steered wheeled unmanned vehicle

Zhang

Pei

Yin

et al. 2021

Proceedings of the Institution of Mechanical Engineers, Part D:

View full text Add to dashboard Cite

show abstract

“…Liang et al [15] also established a 2 DOF model to understand the driving dynamics and steering stability of the vehicle by calculating the yaw moment and verified the advantages of the genetic algorithm over the traditional PID algorithm. The high DOF models are used to realistically simulate a wide range of vehicle performance in real-world driving, such as handling performance [17][18][19] and dynamic performance [13,[20][21][22]. Ni et al [17] developed an 11 DOF vehicle dynamics model to simulate the handling performance of a hybrid eight-wheel drive vehicle by modeling and correlating each part of the complex vehicle system.…”

Section: Introductionmentioning

confidence: 99%

“…The high DOF models are used to realistically simulate a wide range of vehicle performance in real-world driving, such as handling performance [17][18][19] and dynamic performance [13,[20][21][22]. Ni et al [17] developed an 11 DOF vehicle dynamics model to simulate the handling performance of a hybrid eight-wheel drive vehicle by modeling and correlating each part of the complex vehicle system. Yu et al [20] developed a 14 DOF vehicle model based on Lagrange's equations to describe the enhanced dynamic and energy efficiency performance of an electric vehicle with four independent wheel drives.…”

Section: Introductionmentioning

confidence: 99%

Dynamic Modeling, Simulation, and Optimization of Vehicle Electronic Stability Program Algorithm Based on Back Propagation Neural Network and PID Algorithm

Wu,

Kang,

et al. 2024

Actuators

View full text Add to dashboard Cite

The vehicle lateral stability control algorithm is an essential component of the electronic stability program (ESP), and its control effect directly affects the vehicle’s driving safety. However, there are still numerous shortcomings and challenges that need to be addressed, including enhancing the efficiency of processing intricate pavement condition data, improving the accuracy of parameter adjustment, and identifying subtle and elusive patterns amidst noisy and ambiguous data. The introduction of machine learning algorithms can address the aforementioned issues, making it imperative to apply machine learning to the research of lateral stability control algorithms. This paper presented a vehicle lateral electronic stability control algorithm based on the back propagation (BP) neural network and PID control algorithm. Firstly, the dynamics of the whole vehicle have been analytically modeled. Then, a 2 DOF prediction model and a 14 DOF simulation model were built in MATLAB Simulink to simulate the data of the electronic control units (ECU) in ESP and estimate the dynamic performance of the real vehicle. In addition, the self-correction of the PID algorithm was verified by a Simulink/CarSim combined simulation. The improvement of the BP neural network to the traditional PID algorithm was also analyzed in Simulink. These simulation results show the self-correction of the PID algorithm on the lateral stability control of the vehicle under different road conditions and at different vehicle speeds. The BP neural network smoothed the vehicle trajectory controlled by traditional PID and improved the self-correction ability of the control system by iterative training. Furthermore, it shows that the algorithm can automatically tune the control parameters and optimize the control process of the lateral electronic stability control algorithm, thus improving vehicle stability and adapting it to many different vehicle models and road conditions. Therefore, the algorithm has a high practical value and provides a feasible idea for developing a more intelligent and general vehicle lateral electronic stability system.

show abstract

“…Heavy vehicles are widely used in infrastructure construction and military field due to their good cross-country performance, high stability and high carrying capacity. 1,2 In order to ensure the flexibility and stability of heavy vehicles, the EHPSS with high carrying capacity, good driving performance and high control flexibility is used. 3,4 In the EHPSS, the tie rod is one of the most important components to ensure the safety of the steering system.…”

Section: Introductionmentioning

confidence: 99%

Study on tie rod force characteristics in electro-hydraulic power steering system for heavy vehicle

Yang

et al. 2020

Proceedings of the Institution of Mechanical Engineers, Part D:

View full text Add to dashboard Cite

The tie rod is one of the key components affecting the steering stability and reliability in the steering system of heavy vehicles. In order to meet the heavy load steering requirements of heavy vehicles, the steering system is universally the electro-hydraulic power steering system (EHPSS). The hydraulic actuators used in the EHPSS are double hydraulic cylinders, which are connected in series and symmetrically installed in this study. The hydraulic drive system in the steering system will affect the steering mechanism of stress state, leading to the tension of the tie rod in most working conditions. The tie rod be compressed only in extremely unequal loading of dual-tires. The tie rod force model is established based on Lagrange equation and verified by the tie rod test platform. Three key parameters describing the force rule of tie rod are obtained by adopting quasi-steady state analysis method, including pump pressure, difference value and sum value of left and right tires steering resistance torque. Pump pressure is the key factor affecting the tie rod force. The higher the pump pressure is, the greater the pull force of tie rod is. The steering resistance torque will further affect the variation law of the tie rod force. In the analysis when the tire at middle position, with the increase of difference value of steering resistance torque, the tie rod force offset between loading conditions and no-load conditions increases. When the tire turns from the middle to both sides, the increase of sum value of steering resistance torque will result in the rising of tie rod force change rate. This study reveals the variation law and key parameters of the tie rod force of heavy vehicles. It can provide basis for stability and reliability design of steering system.

show abstract

Handling performance control for hybrid 8-wheel-drive vehicle and simulation verification

Cited by 17 publications

References 25 publications

An observation algorithm for key motion states of skid-steered wheeled unmanned vehicle

An observation algorithm for key motion states of skid-steered wheeled unmanned vehicle

Dynamic Modeling, Simulation, and Optimization of Vehicle Electronic Stability Program Algorithm Based on Back Propagation Neural Network and PID Algorithm

Study on tie rod force characteristics in electro-hydraulic power steering system for heavy vehicle

Contact Info

Product

Resources

About