This paper deals with the simulation of oo-road robots while taking into account the mechanical behavior of the locomotion system and its interaction with its environment. This interaction is studied and discussed for diierent behaviors of wheel-soil contact. The analysis considers phenomena of slips, of soil shear deformations, of soil compaction and wheel elastic deformation. Wheel-soil conta...

This article proposes a novel longitudinal vehicle speed estimator for snowy roads in extreme conditions (four-wheel slip) based on low-cost wheel encoders and acceleration sensor. The tire rotation factor, η, is introduced to reduce the deviation between radius manufacturer’s marked radius. Local Vehicle Speed Estimator defined eliminate estimation error. It improves slip accuracy of four-whee...

Anti-slip control, as a fundamental technique of vehicle stability prevents loss control vehicles, especially under extreme driving conditions. However, current methods fail to suppress slippage when steering. Therefore, new anti-slip approach for four-wheel independent-drive electric vehicles (EVs) based on the energy method is proposed. This makes full use distribution motor between body and ...

This paper presents the movement dynamic of the train and the relationship between the speed of wheel and train, as well as a discussion about the concept of wheel slip. There are two different operation regions designated as creep and wheelspin areas for wheel slip. Creep and wheelspin areas have stable and unstable characteristics, respectively. Wheels and rails are constructed from iron, and...

This paper presents a new control algorithm that prevents electrical vehicle from wheel skidding in presence of uncertainties of tire-road condition. An estimator of the maximum effective torque is realized by wheel velocity and input torque, which is based on a pure kinematic relationship between the wheel and the chassis. In order to enhance the stability of the control system and handing per...

Abstract Safety and efficiency are key aspects of research development in the automotive industry, especially field safety‐critical subsystems, such as brake systems. The effect time delay arise systems, this adverse can cause performance degradations or make system unstable. In study, bifurcation analysis a wheel slip control feedback loop is presented. consists tyre, delayed actuator dynamics...

The current practice for experimentally evaluating the performance of extraterrestrial rovers/rover wheels is to conduct tests on earth on a soil simulant, appropriate to the regolith on the extraterrestrial body of interest. In the tests, the normal load (force) applied by the rover/rover wheel to the soil simulant is set identical to that expected on the extraterrestrial surface, taking into ...

Typical formulations of the forward and inverse velocity kinematics of wheeled mobile robots assume flat terrain, consistent constraints, and no slip at the wheels. Such assumptions can sometimes permit the wheel constraints to be substituted into the differential equation to produce a compact, apparently unconstrained result. However, in the general case, the terrain is not flat, the wheel con...

In this paper, we propose a torque vectoring controller for an electric vehicle with two electric machines which drive the front wheels independently. The torque vectoring system includes a vehicle dynamics controller and a motor torque and wheel slip limiter. The vehicle dynamics controller is designed as a polytopic, linear parameter-varying (LPV) gain-scheduled controller. The LPV controller...

The purpose of this study is to understand the nonlinear dynamics of longitudinal ground vehicle traction. Specifically, single-wheel models of rubber-tired automobiles under straight-ahead braking and acceleration conditions are investigated in detail. Customarily, the forward vehicle speed and the rotational rate of the tire/wheel are taken as dynamic states. This paper motivates an alternati...