This paper describes a general approach to the kinematics modeling of all-terrain rovers traversing uneven terrain. The model is derived for full six degree of freedom motion enabling movements in x, y, z directions, as well as pitch, roll, and yaw rotations. Differential kinematics is derived for the individual wheel motions in contact with the terrain. The resulting equations of the individua...

In present paper, the relationship between fatigue and wear of three kinds pearlite wheel steel samples is investigated by using rolling tester under 0.2% slip ratio condition. The results show that weight loss, surface hardness thickness plastic deformation layer are increased as increase cycles during process. loss G1 sample highest owing to existence a large amount proeutectoid ferrite (PF)g...

Abstract Due to quick response and large quantity of electric motor torque, the traction wheels battery vehicle are easy slip during initial phase starting. In this paper, a sliding mode control approach acceleration regulation is designed prevent wheels. The wheel ratio used as state variable for formulation system dynamics model. fuzzy algorithm utilized adjust switch function controller. Aft...

In this paper, the effects of wheel slip compensation in trajectory planning for mobile tractor-trailer robot applications are investigated. Firstly, a kinematic model proposed architecture is marked out, then an experimental campaign done to identify if it possible kinematically compensate trajectories that otherwise would be subject large lateral slip. Due close connection data, results shown...

In order to further improve the braking performance of nonlinear antilock system (ABS), an improved global sliding mode control scheme is presented. First, a surface designed. The method can eliminate reaching phase compared with conventional linear surface, and guarantee robustness during whole process. Then, novel law proposed satisfy condition, theoretical proof given. Simulation results dem...

Abstract Tread wear and rolling contact fatigue (RCF) damage propagated on railway wheels are the two extremely important focal points as they can tremendously deteriorate wheel/rail interactions hunting stability destroy wheel surface materials, subsequently, cut down lifetime of wheels. The on-board anti-slip controllers essence aiming to hold back striking slipping powered wheelsets under lo...

A hierarchical optimization procedure for the optimal synthesis of a double-axle steering mechanism used in truck with dynamic loads is presented. A multibody model of double-axle steering mechanism is presented to characterize the leaf spring effect. The influences of dynamic loads, the motion interference of steering linkage resulted from the elastic deformation of leaf spring, and the effect...

We describe a nonlinear observer-based design for control of vehicle traction that is important in providing safety and obtaining desired longitudinal vehicle motion. First, a robust sliding mode controller is designed to maintain the wheel slip at any given value. Simulations show that longitudinal traction controller is capable of controlling the vehicle with parameter deviations and disturba...

The problem of modeling and controlling vehicle longitudinal motion is addressed for front wheel propelled vehicles. The chassis dynamics are modeled using relevant fundamental laws taking into account aerodynamic effects and road slop variation. The longitudinal slip, resulting from tire deformation, is captured through Kiencke‟s model. A highly nonlinear model is thus obtained and based upon ...

We describe a nonlinear observer-based design for control of vehicle traction that is important in providing safety and obtaining desired longitudinal vehicle motion. First, a robust sliding mode controller is designed to maintain the wheel slip at any given value. Simulations show that longitudinal traction controller is capable of controlling the vehicle with parameter deviations and disturba...