Vehicle Inertial Parameters-Measured Values and Approximations

Garrott, W. Riley; Monk, M.; Chrstos, Jeffrey P.

doi:10.4271/881767

Cited by 53 publications

(16 citation statements)

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“…Since it is a time consuming process to calculate the inertial moment of the tractor, an approximate value for the inertial moment can be calculated as follows (Garrott et al, 1998):…”

Section: Vehicle Dynamicsmentioning

confidence: 99%

Towards agrobots: Identification of the yaw dynamics and trajectory tracking of an autonomous tractor

Kayacan

Kayacan²,

Ramón³

et al. 2015

Computers and Electronics in Agriculture

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a b s t r a c tMore efficient agricultural machinery is needed as agricultural areas become more limited and energy and labor costs increase. To increase their efficiency, trajectory tracking problem of an autonomous tractor, as an agricultural production machine, has been investigated in this study. As a widely used model-based approach, model predictive control is preferred in this paper to control the yaw dynamics of the tractor which can deal with the constraints on the states and the actuators in a system. The yaw dynamics is identified by using nonlinear least squares frequency domain system identification. The speed is controlled by a proportional-integral-derivative controller and a kinematic trajectory controller is used to calculate the desired speed and the desired yaw rate signals for the subsystems in order to minimize the tracking errors in both the longitudinal and transversal directions. The experimental results show the accuracy and the efficiency of the proposed control scheme in which the euclidean error is below 40 cm for time-based straight line trajectories and 60 cm for time-based curved line trajectories, respectively.

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“…Since it is a time consuming process to calculate the inertial moment of the tractor, an approximate value for the inertial moment can be calculated as follows (Garrott et al, 1998):…”

Section: Vehicle Dynamicsmentioning

confidence: 99%

Towards agrobots: Identification of the yaw dynamics and trajectory tracking of an autonomous tractor

Kayacan

Kayacan²,

Ramón³

et al. 2015

Computers and Electronics in Agriculture

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“…Practically the yaw (I y ) and pitch (I p ) moment of inertia are assumed to be the same [10] and calculated using Eqn. (2).…”

Section: Vehicle Modelmentioning

confidence: 99%

“…Where t offset = 0, t gain = 1, and f is a table function that produces the preview time as a function of forward speed [10]. The results of the proposed controllers are pre-validated [2] by the test results of an instrumented vehicle with optical roll sensor, L350 aqua, data acquisition system.…”

Section: Driver Modellingmentioning

confidence: 99%

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Effect of Velocity and Road Conditions on the Roll Over Behaviour of Sports Utility Vehicles

Mondal¹,

Bhangale²,

Tyagi³

et al. 2010

Int. J. Vehicle Structures and Systems

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Sports Utility Vehicles (SUVs) are vulnerable roll over type accidents due to their high centre of gravity and operating conditions. This paper details the effect of velocity and road conditions on the roll over behaviour of a popular SUV on Indian road conditions. Road conditions are collected from three accident prone areas of an Indian metropolitan city. The safety critical vehicle dynamics related parameters of a commercial SUV are measured through experiments. These parameters are incorporated within the mathematical modelling and simulations. A multi-body vehicle dynamics software is used in the detailed simulations of vehicle behaviour. The simulations results are pre-validated by the test results of an instrumented vehicle with optical roll sensor, L350 aqua, and data acquisition system. The sensitivity of critical roll over velocity to the variations in road-tire frictional co-efficient, road side slope and radius of curvature are presented. The findings of the dynamic lateral acceleration threshold indicates that proper side slope and better skid resistance are necessary to improve the roll over stability especially for Indian wet road conditions. . 2010. Effect of velocity and road conditions on the roll over behaviour of sports utility vehicle, Int. J. Vehicle Structures & Systems, 2(1), 38-44.

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“…The roots of vehicle handling design theory can be traced to mid 1950s, when the first comprehensive understanding of both the theory and practice of the linear handling response of the automobile was introduced [Olley, –1947, Segel, ; Crolla, ]. Since then, the field of vehicle handling dynamics design has come a long way, with a plethora of research activities in almost all areas of vehicle handling including, theories explaining nonlinear limit handling behavior [Ono et al., ], use of computer simulations [Allen et al., ], complex multibody models [Pacejka, ; Blundell and Harty, ], specialized handling measurement devices, vehicle characterization test rigs [Garrott et al., ], application of active control systems [Statistical Analysis of the Effectiveness of Electronic Stability Control (ESC) ; Browalski et al., ], etc. It should be pointed out that even with these significant advances in the field of vehicle handling and objectification of the handling characteristics, subjective testing of the vehicle by trained test drivers still dominates the final chassis setup and sign‐off process.…”

Section: Introductionmentioning

confidence: 99%

An Integrated Systems Engineering Method for Conceptual Design of Vehicle Handling Dynamics

Hazare

Venhovens

2015

Syst. Engin.

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The handling characteristics of road vehicles are important attributes that define a major part of its unique selling proposition. The engineering process of tuning vehicle handling dynamics is a challenging process due to the multitude of competing design requirements/parameters and requires a well-defined systematic approach. The primary objective of this publication is to describe an integrated system engineering method for the conceptual design of vehicle handling dynamics early in the product development process. A systems engineering-based simulation framework is described that connects subjective, customerrelevant handling expectations to higher-level, objective vehicle engineering targets and consequently breaks these targets down into subsystem-level requirements and component-level design specifications. A case study supporting this proposed system engineering method for vehicle handling design is also described in detail. The integrated systems engineering approach guides the engineering development process and provides insight into the compromises involved in vehicle handling layout, ultimately saving product development time and costs and helping to achieve a higher level of product maturity early in the design phase. C⃝ 2016 Wiley Periodicals, Inc. Syst Eng 18: 659-675, 2015

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Vehicle Inertial Parameters-Measured Values and Approximations

Cited by 53 publications

References 1 publication

Towards agrobots: Identification of the yaw dynamics and trajectory tracking of an autonomous tractor

Towards agrobots: Identification of the yaw dynamics and trajectory tracking of an autonomous tractor

Effect of Velocity and Road Conditions on the Roll Over Behaviour of Sports Utility Vehicles

An Integrated Systems Engineering Method for Conceptual Design of Vehicle Handling Dynamics

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