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Journal articles on the topic 'Ackermann steering geometry'

Author: Grafiati

Published: 4 June 2021

Last updated: 1 February 2022

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1

Zheng, Hongyu, and Shuo Yang. "Research on race car steering geometry considering tire side slip angle." Proceedings of the Institution of Mechanical Engineers, Part P: Journal of Sports Engineering and Technology 234, no. 1 (September 9, 2019): 72–87. http://dx.doi.org/10.1177/1754337119872417.

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The steering trapezoid designed according to the Ackermann steering geometry potentially causes excessive tire wear and affects the steering performance due to the large tire deformation resulting from large lateral acceleration. To address these problems, this article introduces a design method for a race car steering system that considers the tire side slip angles to optimize the target steering angle relation. First, a racing path was planned by genetic algorithm according to the given race track and race car driver characteristics. Next, the objective function of the ideal steering angle relation was constructed by introducing the Ackermann correction coefficient and establishing the modified Ackermann steering geometry model, considering the tire side slip angle. Then, a data acquisition experiment was designed, and the Ackermann correction coefficient was identified by the proposed simulation algorithm. Finally, the coincidence degree of wheel steering centers was defined as the evaluation index, which can be used to describe and evaluate the performance of the coordination for wheels’ movement. Simulation results show that the design method of the steering system effectively improves the handling stability of the race car and reduces the tire leaning-grind.

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2

Zhao, Jing-Shan, Xiang Liu, Zhi-Jing Feng, and Jian S. Dai. "Design of an Ackermann-type steering mechanism." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 227, no. 11 (February 4, 2013): 2549–62. http://dx.doi.org/10.1177/0954406213475980.

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This article focuses on the synthesis of a steering mechanism that exactly meets the requirements of Ackermann steering geometry. It starts from reviewing of the four-bar linkage, then discusses the number of points that a common four-bar linkage could precisely trace at most. After pointing out the limits of a four-bar steering mechanism, this article investigates the turning geometry for steering wheels and proposes a steering mechanism with incomplete noncircular gears for vehicle by transforming the Ackermann criteria into the mechanism synthesis. The pitch curves, addendum curves, dedendum curves, tooth profiles and transition curves of the noncircular gears are formulated and designed. Kinematic simulations are executed to demonstrate the target of design.

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3

Pramudita Wid, Wimba, Aufar Syehan, and Danardono Agus Sumarsono. "Kinematic Analysis of Triple Ball Tie-rod in Ackermann Steering and Tilting Mechanism for Tricycle Application." E3S Web of Conferences 130 (2019): 01038. http://dx.doi.org/10.1051/e3sconf/201913001038.

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Nowadays, a concept of tilting three-wheel vehicle is introduced, one of which is the electric tilting tricycle to provide an alternative mode of transportation. Some of the tilting tricycle design usinga tadpole trike configuration and it needs an adequate steering system that can be synergized with tilting mechanism. The steering mechanism follows the Ackermann steering geometry. Usage of Ackermann geometry means applying a mechanism of trapezoidal four-bar linkage to the tricycle. To create and maintain the simple trapezoid shape, Triple Ball Tie-rod model, a single rod which supports three ball joints, is proposed. Since the capabilities of the model are yet to be proven, this research evaluates the usageof a tie-rod model to find out its capabilities to support the works of the steering mechanism of the tricycle. The measurements are conducted after the simulation of the 3D model to extract some data such as maximum lean angle and inner and outer steering angles. Another simulation using regular tie-rod model also conducted with the same method for comparison purposes. The results of the study are maximum allowed tilting angle and generated Ackermann steering angles. Each designed models have their respectiveadvantages.

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4

Tseng, Din Chang, Tat Wa Chao, and Jiun Wei Chang. "Image-Based Parking Guiding Using Ackermann Steering Geometry." Applied Mechanics and Materials 437 (October 2013): 823–26. http://dx.doi.org/10.4028/www.scientific.net/amm.437.823.

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An image-based parking guiding system is proposed to help drivers to park their cars into parking space. The proposed system only relies on an embedded hardware and a wide-angle camera to capture images for analysis. The proposed system needs no steering sensor; itis a money-saved technique; moreover, it is suitable for used cars and after-market usage. The input image is first transformed into a top-view image by a transformation matrix of homography. Then corner feature points on two continuous images are extracted to match each other. The feature-point pairs are further pruned by a least-square error metrics. The remained feature-point pairs are then used to estimate the vehicle motion parameters, where a coordinate transformation model is used to model and simulate the Ackermann steering geometry to describe the vehicle motion. At last, the vehicle trajectory is generated based on the vehicle motion parameters and the parking guiding lines are drawn according to the vehicle trajectory.

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5

Fahey, S. O’F, and D. R. Huston. "A Novel Automotive Steering Linkage." Journal of Mechanical Design 119, no. 4 (December 1, 1997): 481–84. http://dx.doi.org/10.1115/1.2826393.

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This brief outlines results of a numerical study involving a novel mechanism called the Fahey eight-member mechanism (FEMM), that has application to automotive steering. This mechanism is considered in terms of a planar kinematics steering model. We derive the governing kinematics and compare results between a synthesized FEMM and two synthesized Ackermann-type steering linkages. Results suggest that FEMM better approximates ideal steering geometry, and could allow an extended range of motion for moderate speed operations.

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6

Shi, Chang Zheng, Zhong Xiu Shi, and Tian Tian Wang. "Design of Steering Trapezoidal Mechanism for FSC Racing Base on Matlab." Advanced Materials Research 647 (January 2013): 885–90. http://dx.doi.org/10.4028/www.scientific.net/amr.647.885.

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The design of steering trapezoidal mechanism is one of the important aspects of the vehicle steering system. Every parameterin steering trapezoidal has significant influences on the steering performance, stability and tire service life of the vehicle.Based on the analysis of the relationship of the inside and outside wheel angle by analytic method, Matlab software can be used to design FSC racing steering trapezoidal mechanism. Considering the conditions of the automobile race,the corresponding parameter of the steering trapezoid is designed to make the relationship of the l wheel angle close to Ackermann geometry relationship, which reduces the wear of tires, ensuring good steering performance and holding the road so well.

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7

Guo, Cui Xia, Kang Liu, and Wen Ling Xie. "Optimal Design of Basic Parameter of Disconnected Steering Trapezoid." Advanced Materials Research 424-425 (January 2012): 334–37. http://dx.doi.org/10.4028/www.scientific.net/amr.424-425.334.

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In the design of disconnected steering trapezoid, the Fmincon function of MATLAB optimization toolbox is used to optimize its basic parameters. First, establish the optimal mathematical model. Second, obtain wheel angle curve of inside and outside steering by least-squares fitting. Finally, compare the curve with the ideal Ackerman geometric curve to get the optimization parameters of disconnected steering trapezoid. The example of optimized design validated that the actual curve of deflection angle of the both sides of steering wheel was almost close to perfect Ackerman geometry curve, it ensures the steering of wheel do pure rolling in the common conditions, which reduce tire wear

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8

Shen, Bin, and P. K. Ji. "The Application of AD Theory in the Study of Active Steering System." Materials Science Forum 697-698 (September 2011): 636–41. http://dx.doi.org/10.4028/www.scientific.net/msf.697-698.636.

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A new type of steering system so called Ackerman active steering system is put forward through combining the active steering with Ackerman geometry theory. The application of axiomatic design concepts to the steering system design is presented. The fundamental function requirements and the relative design parameters of desirable steering systems are introduced according to the trend of steering system evolution. The uncoupling control system is proposed and the simulation is conducted to verify the concept. The result shows that the coupled system can be converted into an uncoupled one via further design on control system.

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9

Moldovanu, D., A. Csato, and N. Bagameri. "Study regarding the implementation of an Ackerman steering geometry in MATLAB." IOP Conference Series: Materials Science and Engineering 568 (September 17, 2019): 012092. http://dx.doi.org/10.1088/1757-899x/568/1/012092.

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10

Borrero-Guerrero, Henry, Rafael Bueno-Sampaio, and Marcelo Becker. "Fuzzy Control Strategy Applied to Adjustment of Front Steering Angle of a 4WSD Agricultural Mobile Robot." Lámpsakos, no. 7 (June 16, 2012): 31. http://dx.doi.org/10.21501/21454086.842.

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This paper presents the preliminary studies of the control strategy based in fuzzy logic, projected for the steering system of AGRIBOT project that consist of a wheeled autonomous mobile robotic in real scale endowed with four independent steering and driven wheels (4WSD). In this work we present a preliminary fuzzy controller design applied to front steering angle, using a multivariable plant which incorporates simplified linear model of lateral dynamics of a vehicle whose input are linear combination of rear and front steering angles. The fuzzy control strategy was decided because provides flexible way to deploy with embedded systems. Simulations are used to illustrate the designed controller performance. We use Ackerman geometry to trace front steering angle that allows the vehicle to perform correctly a given maneuver preserving a minimum level of stability and maneuverability. The goal is to establish a relationship between steering input commands and the control commands to the actuators so that it is possible to adjust the attitude of the actuators over the movement axis, as the trajectory change.

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11

Hashimoto, Masafumi, Yuuki Nakamura, and Kazuhiko Takahashi. "Fault Diagnosis and Fault-Tolerant Control of a Joystick-Controlled Wheelchair." Journal of Robotics and Mechatronics 20, no. 6 (December 20, 2008): 903–11. http://dx.doi.org/10.20965/jrm.2008.p0903.

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This paper presents a method of fault diagnosis and fault-tolerant control for a nonholonomic powered wheelchair. Hard faults of sensors and actuators in two drive/steering units of the wheelchair are handled. The fault diagnosis is based on the interacting multiple-model (IMM) estimator. In order to improve fault decisions, we implement mode probability averaging and heuristic decision-making rule in the IMM-based algorithm. A fault-tolerant controller designed based on Ackerman geometry enables safe motion of the wheelchair even if sensors and actuators have partially failed. Experimental results verify the proposed method.

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12

Pradhan, Debendra, Krishanu Ganguly, Biswajit Swain, and Haraprasad Roy. "Optimal kinematic synthesis of 6 bar rack and pinion Ackerman steering linkage." Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, December 2, 2020, 095440702097449. http://dx.doi.org/10.1177/0954407020974497.

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In this article, synthesis and simultaneous optimization of a steering mechanism is proposed for enhancing the cornering performance of a Formula Students competition car. A planar six-bar steering mechanism is synthesized assuming it as two separate slider-crank arrangements with a rigid link between the sliders. Numerical optimization is performed using multi-objective genetic algorithm (MOGA), which includes minimization of differences between both slider displacements and summation of deviations from true Ackerman geometry for a set of steering inputs. The selection of various parameters for running MOGA is well established based on iterative way. The seven variables (such as wheelbase and track width lengths, tie rod, tie-arm etc.) are optimized and used to construct the Ackerman steering geometry. Finally, the outer to inner tyre rotations of obtained geometry is calculated and compared with the predefined targeted values of actual Ackerman criteria.

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13

Gautam, Puneet, Shubham Sahai, Sachin Sunil Kelkar, Prajwal Sanjay Agrawal, and Mallikarjuna Reddy D. "Designing Variable Ackerman Steering Geometry for Formula Student Race Car." International Journal of Analytical, Experimental and Finite Element Analysis (IJAEFEA) 8, no. 1 (February 13, 2021). http://dx.doi.org/10.26706/ijaefea.1.8.20210101.

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14

Moldovanu, D., A. Csato, and N. Bagameri. "Study regarding the implementation of an Ackerman steering geometry in MATLAB." ANNALS OF THE ORADEA UNIVERSITY. Fascicle of Management and Technological Engineering. Volume XXIX (XIX), 2019/3, no. 3 (2019). http://dx.doi.org/10.15660/auofmte.2019-3.3506.

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15

Yu, Zitian, and Junmin Wang. "Simultaneous Estimation of Vehicle’s Center of Gravity and Inertial Parameters Based on Ackermann’s Steering Geometry." Journal of Dynamic Systems, Measurement, and Control 139, no. 3 (January 10, 2017). http://dx.doi.org/10.1115/1.4034946.

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Onboard vehicle parameter estimation is an important procedure for advanced vehicle control tasks, especially for vehicles whose payload configurations vary in day-to-day use. This study presents a newly proposed estimation method based on the Ackermann’s steering geometry (ASG) that aims to estimate multiple vehicle's center of gravity (CG) position and inertial parameters at the same time. In this method, the vehicle planar motion equations are first synthesized into a form where only the lateral force of one front wheel and longitudinal forces appear. This way, the influence of uncertainties in the tire lateral force models is greatly reduced. Then, the condition of eliminating the remaining front wheel lateral force term can be derived, which is exactly the Ackermann’s steering geometry. When the influence of lateral tire force terms are eliminated, regression technique is applied to estimate the needed vehicle parameters. Vehicle’s suspension kinematics is also considered in the processing of dynamic signals. Unlike conventional methods in estimating vehicle’s payload related parameters, the new method requires neither lateral tire force model nor accurate suspension property parameters. Simulations in CarSim®-Simulink environment verified that the proposed method is capable of estimating vehicle parameters such as CG position and inertial parameters at the same time.

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