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1
Nishanth Krishna, Raj Purohit, J.S. Rohit, Avasarala Venkata Srivatsa, and Sharanbassappa S Patil. "Effect of Drivetrain Configuration on Handling Characteristics of Tadpole Type Three-Wheeler." ARAI Journal of Mobility Technology 3, no. 2 (April 18, 2023): 600–609. http://dx.doi.org/10.37285/ajmt.3.2.6.
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The world’s first automobile built by Karl Benz was powered by a single-cylinder four-stroke engine which was placed at the rear part of the three-wheeled chassis. Since then, the automobile industry has drastically evolved, especially four wheelers. Nowadays, three-wheelers are gaining popularity as they are more fuel efficient than four-wheelers while being more stable than twowheelers. The inherent cost advantages of a threewheeler also make them more affordable. Autorickshaws, having delta configuration, are extensively utilized in several Asian countries like India, Indonesia, Pakistan and others. But they are risky during braking in a turn due to a single front wheel. Alternatively, a tadpole type three-wheeler is safer in braking in a turn and provides better steering control. This three-wheeler configuration also provides better aerodynamic design. They have been recently adopted in European countries for personal mobility and logistics. Therefore, the paper analyses the stability of a Tadpole type three-wheeler based on various standard simulation tests such as Constant Radius test, Acceleration test and Double Lane Change test. These tests provide various results such as Steering Angle, Understeer behaviour and Longitudinal Acceleration where information regarding handling characteristics can be studied. A comparison between Front Wheel Drive and Rear Wheel Drive configuration is carried out to arrive at a conclusion for selecting the right drivetrain configuration. In order to achieve this, a Multibody Dynamics model is created using MSC Adams Car by assembling the various subsystems namely Front Suspension, Rear Suspension, Steering, Brakes, Body, Powertrain and Tires. Simulation results have been compared with existing literature for the verification of the model.
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Lan, Guiping, Yujun Wang, Can Fang, and Min Yi. "Novel Design of a Biaxial and Four-Wheeled Robot Capable of Steering." MATEC Web of Conferences 160 (2018): 06006. http://dx.doi.org/10.1051/matecconf/201816006006.
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The paper presents a biaxial and four-wheeled robot, mainly composed of two axle, two circular wheels and two three-leaved wheels. By analyzing the difference between the velocity of the circular wheel and three-leaved wheel in same axle, the steering principle of the difference velocity is proved. The three-leaved wheels are installed by a complementary phase method to ensure the stability of the robot walking. Through the steering principle, the control method of robot’s forward, backward, turn left and turn right is designed. A large number of experimental results show that the robot has the characteristics of high steering efficiency, simple mechanical structure and easy to control.
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Dižo, Ján, Miroslav Blatnický, Rafał Melnik, and Michal Karľa. "Improvement of Steerability and Driving Safety of an Electric Three-Wheeled Vehicle by a Design Modification of its Steering Mechanism." LOGI – Scientific Journal on Transport and Logistics 13, no. 1 (January 1, 2022): 49–60. http://dx.doi.org/10.2478/logi-2022-0005.
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Abstract Three-wheeled vehicles are transport means which generally combine properties of two-wheeled vehicles (principal motorcycles) and four-wheeled vehicles (standards cars). Three-wheeled vehicles have been designed and manufactured as units which are made up of one front wheel and two rear wheels, powered by an electric drive-train, and referred to in some countries under a non-English term as E-3kolka. These vehicles also comprise a special steering mechanism which improves their overturning stability when driving around curves. However, several tests have revealed certain deficiencies of the steering mechanism, where the main issue included unreliable self-restraining effect of steering wheel straightening after driving around a curve. This may even lead to unacceptable properties of the vehicle. Therefore, the authors of this paper suggest particular technical solutions to eliminate or completely avoid the described negative effects during driving. Proposed designs are mutually compared and a final decision is presented.
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Hirose, Shigeo, and Hiroyuki Kuwabara. "Design of Three-wheeled Planetary Rover Tri-StarII." Journal of Robotics and Mechatronics 12, no. 4 (August 20, 2000): 446–52. http://dx.doi.org/10.20965/jrm.2000.p0446.
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Many studies have been made concerning the planetary Rover, the essential element in the planet exploration mission, and some have already been put into practical use in exploration missions. In this paper, we propose an expandable three-wheeled rover, Tri-StarII, as a planetary rover having a new mechanism. Tri-StarII has three drive wheels and does not need suspension mechanism, so the drive mechanism is simplified and lightened. By use of this feature, the body is designed to be an expandable type with the wheels attached to a slide arm. By folding it up in the lander carrying it to the surfaces of the moon or Mars, and expanding to large size when running, it can achieve running stability equivalent to larger rovers. The wheels are attached to the body with an offset wheel steering mechanism. For the expansion and steering mechanisms, latches having very small actuators are used and the increase in weight is minimized by introduction of these mechanisms. Further, the running wheel uses a spring wheel usable in space environments. By using the expansion mechanism for the spring wheel, the energy loss in running is decreased and performance is improved. We confirmed the feasibility of an experimental unit.
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Dižo, Ján, Miroslav Blatnický, and Pavol Kurčík. "Analysis of driving properties of a three-wheeled vehicle with a newly designed steering system." MATEC Web of Conferences 254 (2019): 03008. http://dx.doi.org/10.1051/matecconf/201925403008.
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This paper presents results of analyses of a three-wheeled vehicle with the newly designed steering system. Our design of steering system is intended to be mounted on a tricycle with the electric drivetrain. The standard steering system of a three-wheeled vehicle has disadvantage, that such a vehicle is unstable, when it is curving a curve mainly at higher speeds. It results to a breach of stability form the overturning point of view. The newly designed steering system of a three-wheeled vehicle contributes to increasing its stability. It means that a three-wheeled vehicle with the newly designed steering system is able to pass a curve with a smaller radius at higher speed. The main objectives of analyses presented in this paper is comparison of driving properties of a three-wheeled vehicle with two wheels on a rear axle with the standard steering system and with the newly designed steering system by means of simulation computations, which were carried out in Simpack package.
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Darji, Bhavin Sanjay, Shubham Viju Dhodi, Shashank Suni Jadhav, Ibrahim Akram Khan, and M. A. Gulbarga. "Craby Steering System." International Journal for Research in Applied Science and Engineering Technology 10, no. 4 (April 30, 2022): 2618–28. http://dx.doi.org/10.22214/ijraset.2022.41851.
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Abstract: In present the car steering system is 2 wheel steering system and in conventional steering system there are only two wheels are moving while taking the turn , either forward two or the rear two wheels . While in 4 wheel steering system the rear and front both wheels are act +ive and can guide in steering. Here we using MARUTI-800 car as a reference model. We have developed a optimized 4 wheel steering system for implementation of mechanism that can give the work in changing in-phase and counter-phase steering of rear wheels depending upon the condition of turning and lane changing with respect to front wheels, thus enhancing the manoeuvrability of as edan in accordance with its speed. Keywords: 4 Wheel steering system, octa steering, craby steering mechanism, steering system
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Ryoo, Young-Jae, Dae-Yeong Im, and Hyun-Rok Cha. "Design of Robotic Vehicle for Personal Mobility with Electric-Driven Three-Wheels." International Journal of Humanoid Robotics 13, no. 04 (November 29, 2016): 1650020. http://dx.doi.org/10.1142/s0219843616500201.
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In this paper, a robotic vehicle for a personal mobility with electric-driven three-wheels is proposed. Before designing the proposed robotics vehicle, omni-directional motions using special wheels, active caster wheels, and active steerable driving wheels are studied. For design of the proposed vehicle, we discuss about active steerable wheel design, and vehicle’s frame design. The omni-directional motion through the digital design exploration of the vehicle using active driving and steering wheel robot technology is examined. As the major mechanical components, an active steerable driving wheel, in-wheel motors, brakes, suspensions, and control systems are described. The design is established by rapid prototyping model of omni-directional motion. The steering geometry and control algorithm for the prototype of the proposed personal mobility are experimented.
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Blatnický, Miroslav, Ján Dižo, Denis Molnár, and Andrej Suchánek. "Comprehensive Analysis of a Tricycle Structure with a Steering System for Improvement of Driving Properties While Cornering." Materials 15, no. 24 (December 15, 2022): 8974. http://dx.doi.org/10.3390/ma15248974.
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This paper focuses on the development, theoretical and experimental research on the structural units of an unconventional three-wheeled vehicle. The vehicle is designed in order to increase the stability when cornering in a low curvature radius. Current research work describes solutions to increase the cornering stability of either conventional three-wheeled vehicles or, more rarely, unconventional vehicles designed on the basis of complex wheel-tilting mechatronics. Thus, there is a gap in research in respect of consideration of a stability-enhancing mechanism for three-wheeled vehicles based on a combination of tilting and deflection of the front steered wheel in the course of cornering. This paper then compares the stability of a three-wheeled vehicle with one steered wheel in front and two wheels in the rear (1F2R) in conventional and unconventional designs. A particular linear formula for the stability of the three-wheeled vehicle in cornering is derived. This study further deals with the design of the frame intended to hold the unconventional steering mechanism of the front wheel of the vehicle, on the one hand, from the theoretical integrity point of view using CAD-, FEM- and MBS-based software and, on the other hand, from the experimental point of view by determining the multiaxial fatigue life of the test specimens. These were made from the frame structural material and loaded with an equivalent load (bending-torsion) corresponding to the real load of the frame in operation. It was discovered that the designed patented front wheel steering mechanism increased the passing speed by 19% in comparison with a conventional vehicle at the minimum possible radius of a corner. The designed vehicle meets the safety conditions in terms of frame integrity and load-bearing capacity. The vehicle frame is designed with respect to the fatigue life of the material, the results of which are presented in the work. The material employed for manufacturing the frame is aluminum alloy type EN AW6063, which makes the frame lightweight and strong.
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Chang, Ming-Yen, Hsing-Hui Huang, and Zhao-Long Chen. "Design of a steering mechanism for the three-wheel tilting motorcycle." Mechanical Sciences 13, no. 1 (March 14, 2022): 189–206. http://dx.doi.org/10.5194/ms-13-189-2022.
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Abstract. There is a trend to develop three-wheel motorcycles because of their better stability and superior cornering ability compared to 1F1R (one front wheel and one rear wheel) motorcycles. The main purpose of this study is to establish a design process for the 2F1R (two front wheels and one rear wheel) three-wheel tilting mechanism and to reduce the turning radius to fulfill steering geometry in order to reduce the steering torque for a better handling feel. This research is divided into two parts: first, an existing steering tilting mechanism is selected as a design reference, and creative design methods are applied to set design constraints and requirements to facilitate a new mechanism design. A steering tilting mechanism is developed based on the design parameters of the steering mechanism and design objectives. Then Simpack software is employed to simulate handling tests on various routes and to verify the design model. The steering torque of the new mechanism is found to be much higher than that of the design reference. Therefore, the next step is to apply the Taguchi method to optimize the steering mechanism and to ensure that the parameter combination that satisfies the design objectives for the steering mechanism is selected. Finally, the route evaluation indexes are obtained from handling test simulations. From the results of the steering characteristics of the reference and research vehicle, the steering torque is found to be directly related to the response capability. Furthermore, the steering torque of the research vehicle is reduced by the optimization analysis using the Taguchi method, and the route evaluation indexes indicate that the vehicle's handling characteristics were improved.
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Larin, Vladimir B. "On Control of Composite Wheeled Vehicle with Three Steering Wheels." Journal of Automation and Information Sciences 42, no. 1 (2010): 68–78. http://dx.doi.org/10.1615/jautomatinfscien.v42.i1.60.
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K, LEW. "ANALYSIS OF THE IMPACT OF VARIOUS PRESSURES IN THE VEHICLE WHEELS ON THE WHEEL GEOMETRY." National Transport University Bulletin 1, no. 50 (2021): 210–20. http://dx.doi.org/10.33744/2308-6645-2021-3-50-210-220.
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The steering system in a vehicle is one of the main systems that ensures its controllability and is important for road safety. The steering system consists of two main mechanisms, namely the steering gear, the task of which is to convert the rotary motion into reciprocating motion, and the steering gear, the task of which is to ensure the correct steering of the vehicle. In this case, the steering system is interconnected with the suspension of the car, in which there are four main angles of the wheels that are responsible for the correct maneuverability of the vehicle, namely: camber angle, toe angle, angle of rotation of the axle of the fist and the angle of inclination of the pivot axis of the fist. Measuring the geometry of a vehicle's suspension has several interrelated purposes. One of them is the modification of the stability of the vehicle, that is, the effective impact on the maintenance of the vehicle on the road. Handling also depends on the geometry setting and ensures proper maintenance on the road. Well adjusted geometry ensures even tire wear on each axle. The purpose of the steering system is to maintain the correct position of the steering wheel in relation to the steering wheels. The tests were carried out in stationary conditions at the diagnostic station of the Rzeszow University of Technology using an automatic device for measuring and regulating the air pressure in the tires of the Unitrol PA-10K car and the Launch X-631 car wheel alignment system. The object of the study was a passenger car of the Opel Agila brand. The tests were carried out for various values of air pressure in the car wheels. Based on the above, the task was set - to demonstrate how incorrect air pressure in the wheels of a car changes the angles of inclination of the wheels of the car. When analyzing the obtained test results, it was found that the pressure in the wheels, different from the nominal, but the same in each wheel, does not significantly affect the change in the values of the parameters of the angles of inclination of the vehicle wheels. If the pressure in the wheels on one side of the vehicle drops by 1 bar, there is a significant difference in the camber angles of the front axle. Changes in the air pressure in one of the rear wheels of the car do not significantly affect the angles of inclination of the car wheels. KEY WORDS: AIR PRESSURE IN THE WHEELS, UNEVEN PRESSURE, WHEEL MOUNTING ANGLES, CAMBER AND TOE ANGLES, STEERING.
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Hu, Wenwu, Sheng Jin, Junchi Zhou, Junlang Yang, Yahui Luo, Yixin Shi, Chaoran Sun, and Ping Jiang. "Prediction of the Equivalent Steering Angle of a Front-Wheel, High-Clearance Paddy Field Management Machine." Applied Sciences 12, no. 15 (August 3, 2022): 7802. http://dx.doi.org/10.3390/app12157802.
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To solve the problem of poor steering consistency for each steering wheel of a four-wheel, independent-steering, high-clearance paddy field management machine, given that the true steering angle of the front wheel cannot be directly obtained through the left and right front wheels steering angle value, a BP (Back Propagation) neural network equivalent steering angle prediction method based on signal feature extraction is proposed in this paper, which can be used to obtain the equivalent steering angle of the front wheel. First, the kinematics model of the paddy field management machine was constructed with the prediction of the steering angle of the management machine as the object. The body was set up in two application environments of cement ground and paddy field, two moving speeds (25 cm/s, 50 cm/s) and three preset steering angles (0°, ±10°) to form six motion modes. The steering angle of the front wheel of the body, the three-axis acceleration of the body, and the angular velocity of the z-axis under twelve conditions were collected. Combining the collected data with the actual trajectory data of the differential BeiDou, the feasibility analysis of the equivalent steering angle prediction was carried out. With the aim of determining an appropriate combination of input factors for optimal equivalent steering angle prediction by the BP neural network, we used FFT (Fast Fourier Transform) and power spectrum conversion to extract and analyze the signal features of the airframe attitude data and obtain the frequency characteristics of the peak power point of the power spectrum, respectively. Through a factor combination test, the optimal BP neural network training factors were determined and, finally, we confirmed that the rotation angles of the front wheels and the z-axis angular velocity may be used as effective training factors. In our investigation on the test set, the mean square error of the equivalent steering angle was found to be less than 0.66°, demonstrating that our approach is effective for obtaining the true steering angle of the front wheel.
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Wan, Shao Song, Jian Cao, Qun Song Zhu, and Cong Yan. "Research on Algorithm to Improve Performance of Multi-Wheel Steering Control System." Advanced Materials Research 989-994 (July 2014): 3177–80. http://dx.doi.org/10.4028/www.scientific.net/amr.989-994.3177.
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There are many factors that can affect network performance, such as delay, packet loss and capacity utilization. Vehicle handling directional stability has been more and more important, experiments for steering wheel corner step input response, steering oil tank response property, steady state turning and steering angle of all steering wheels were conducted in this paper, the experimental results show that multi-wheel steering system can fulfill its function very well and reach target angle, it provides a new method for researching for the vehicle handling directional stability.
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Garmash, V. "CONTROL OF THE PROCESS OF MANEUVERING OF A 4-WHEEL SPECIAL CHASSIS WITH A COMBINED POWER PLANT." Collection of scientific works of the National Academy of the National Guard of Ukraine 2, no. 40 (2022): 19–25. http://dx.doi.org/10.33405/2409-7470/2022/2/40/270518.
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Cars with electric and hybrid drive of driving wheels have become widespread in the world in recent years. For a wide class of wheeled vehicles with a combined electromechanical drive, it became possible to make the front axle swivel, which makes it possible to increase their maneuverability. The use of separate control of electric motors of the front swivel drive axle makes it possible to control the turning of machines by creating a difference in tangential reactions on the front wheels. This article analyzes the controllability of a four-wheeled special chassis with a combined power plant when creating a difference in torque on the front wheels. The obtained analytical dependences make it possible to evaluate the controllability of vehicles with a front steering axle. It is determined that the indicators of controllability and turning (angular acceleration and angular velocity) with the front rotary drive axle and the creation of a torque difference on its wheels are higher than in the case of equality of certain moments. The influence of the law of changing the difference of torques on the kinematic parameters of the car turning is investigated. It is determined that for each of the three laws of changing the difference in torques, the relative angular velocity of the car turning increases with time. The proposed steering is a system with two degrees of freedom, since two independent control actions are created at its input - turning the steering wheel and creating a difference in torque on the front wheels. Therefore, the solution of the task was carried out using a complex motion model. It should be said that the rigid wheels of the car were considered. When studying the movement of a car with wheels that are elastic in the lateral direction, it is necessary to use a model of a multicomponent complex movement, consisting of one portable and two relative movements. The second relative movement is the movement due to the deformation of the tires during their lateral withdrawal.
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Mourant, Ronald R., and Praveen Sadhu. "Evaluation of Force Feedback Steering in a Fixed Based Driving Simulator." Proceedings of the Human Factors and Ergonomics Society Annual Meeting 46, no. 26 (September 2002): 2202–5. http://dx.doi.org/10.1177/154193120204602621.
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Eight participants drove a fixed base simulator using both spring-loaded and force feedback steering wheels. Their route included curves of 100, 200 and 300 radii of curvature, and two freeway style exit ramps that were sloped, banked and, had changing radii of curvature. Both mean and variance of lane position were calculated. There were no differences in terms of mean and variance of lane position between the steering wheels when driving on straight road segments. Lane position variance was significantly greater when driving on the 100 meter curves then when driving of the 200 and 300 meter curves. Drivers “hugged” left hand curves more when using the force feedback steering wheel as indicated by their average lane position being significantly more to the left. On the two right hand exit ramps, drivers drove significantly more to the left when using the force feedback steering wheel. Subjects rated the force feedback steering wheel higher in terms of realism, maneuverability, and vehicle control on a post-experiment questionnaire.
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Zhang, Ping Xia, Li Gao, and Yong Qiang Zhu. "The Steering Performance Analysis of Multi-Axle Vehicle Based on Sideslip Angle Control Strategy." Applied Mechanics and Materials 701-702 (December 2014): 799–802. http://dx.doi.org/10.4028/www.scientific.net/amm.701-702.799.
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Because there are several axles in multi-axle vehicle, steering controlling is very complex. It is proposed to use the front wheel steering angle and D as input controlling variables, and to realize centroid sideslip angle control. A five-axle vehicle model was built with ADAMS software, and the control strategy was built with Simulink software. The steering angle step response simulations were processed, such as only font wheels steering, fixed D value steering, and different sideslip angle control strategy. It is found that for only font wheels steering test, variable sideslip angle control strategy could make the overshoot of yaw rate reduce from 98% to 10%, convergence time reduce to 57%.
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Zhu, Yong Qiang, Quan Shi Chen, and Ping Xia Zhang. "The Analysis of Overtaking of Whole Wheel Steering In-Phase of Multi-Axle Vehicle." Applied Mechanics and Materials 152-154 (January 2012): 1619–22. http://dx.doi.org/10.4028/www.scientific.net/amm.152-154.1619.
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With in-phase steering, there might be some change at the driving performance of multi-axle vehicle. A five-axle vehicle model has been built with ADAMS software, and the control strategy has been built with Simulink software. The driver steering and speed control model with variable ratio was built. The comparative overtaking simuliation of whole wheel steering and only first two-axle wheels steering was processed. With the simulation, it can be found that, in the same movement track cases, comparing to the only first two-axle steering now used in vehicles, with in-phase whole wheel steering, the angle of steering wheel became smaller, the centroid yaw-rate was reduced, and vehicle movement track was closer to target track. The manipulation performance of vehicle was improved, and the labor intensity of the driver.was reduced. This provides a certain amount of theoretical research for the multi-axle steering vehicle control.
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Truong, Le Phuong, Huan Liang Tsai Liang Tsai, and Huynh Cao Tuan. "DEVELOPMENT OF DIRECTIONAL ALGORITHM FOR THREE-WHEEL OMNIDIRECTIONAL AUTONOMOUS MOBILE ROBOT." Vietnam Journal of Science and Technology 59, no. 3 (May 17, 2021): 345. http://dx.doi.org/10.15625/2525-2518/59/3/15583.
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A The proposed system developed an omnidirectional algorithm to control autonomous mobile robots with three wheels. The implementation system consists of three Planet DC motors with rated power of 80 W for three wheels, three encoders for speed feedback, one encoder for distance feedback, and one digital compass sensor for angle feedback. The main system with an STM32F407 microcontroller is designed for directional control of wheels based the signal received from compass sensor and encoder and then controls three subsystems to adjust the steering speed of each wheel. The sub-system is built to control only one DC motor for each wheel with the built-in proportional integral derivative controller (PID) algorithm by an STM32F103 microcontroller. Furthermore, the directional control algorithm is developed for three omnidirectional wheels and a PID algorithm is designed to control the speed of DC motor for each wheel. From the results the proposed system has the advantages: (1) to auto adjust the angle and position; (2) to erase the sensor for tracking line of the automobile robot; (3) cost-effectiveness and high accuracy
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Chen, Keji, Xiaofei Pei, Guocheng Ma, and Xuexun Guo. "Longitudinal/Lateral Stability Analysis of Vehicle Motion in the Nonlinear Region." Mathematical Problems in Engineering 2016 (2016): 1–15. http://dx.doi.org/10.1155/2016/3419108.
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We focus on the study of motion stability of vehicle nonlinear dynamics. The dynamic model combining with Burckhardt tire model is firstly derived. By phase portrait method, the vehicle stability differences of three cases, front wheels steering/four-wheel steering case, front/rear/four-wheel braking case, and high/low road friction case, are characterized. With the Jacobian matrix, the stable equilibrium point is found and stable areas are calculated out. Similarly, the stability boundaries corresponding to different working conditions are also captured. With vehicle braking or accelerating in the steering process, the relationship between front/rear wheel slippage and the stable area is examined. Comparing with current literatures, the research method and its results present the novelty and provide a guideline for new vehicle controller design.
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Li, Yao Xu, Yun Chao Wang, and Pei Feng Feng. "Lateral Dynamics of Three-Axle Steering Vehicle Based Zero Vehicle Sideslip Angle Control." Advanced Materials Research 476-478 (February 2012): 1682–87. http://dx.doi.org/10.4028/www.scientific.net/amr.476-478.1682.
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Based on the established linear 2-DOF dynamics model of three-axle steering vehicle, the relationships between the gain of main transient and steady-state characteristic parameters of three-axle steering vehicle based on Zero Vehicle Sideslip Angle Control (ZVSC), vehicle speed and the deviation of the instantaneous steering center are deduced, and the influences of the control method and system inherent characteristics on steering transient response and stability are discussed. The main characteristic parameters of all wheels steering vehicles and front wheels steering vehicles are compared by quantative analysis using MATLAB with the consistency with theoretical analysis proofed.
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Chernenko, Sergii, Eduard Klimov, Andrii Chernish, Olexandr Pavlenko, and Volodymyr Kukhar. "Simulation Technique of Kinematic Processes in the Vehicle Steering Linkage." International Journal of Engineering & Technology 7, no. 4.3 (September 15, 2018): 120. http://dx.doi.org/10.14419/ijet.v7i4.3.19720.
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The results of the investigation of the turning kinematics of the steerable wheels of the KrAZ-7634NE off-road vehicle with a wheel formula 8x8 and two front steer axles are given. The theoretical relations between the steer angles of the steerable wheels on the basis of the scheme of double-axle steering turning of the vehicle are shown. The mathematical model of flat four-bar vehicle steering linkage is developed, it determines the relation between the steering linkage left and right steering arms turning angles at any turning radius of the vehicle. KrAZ-7634HE steering three-dimensional model was created and simulation technique of its work was carried out using Creo software. It has been shown that the flat steering linkage model provides sufficient accuracy of calculations in analysis of turning kinematics. The design data can be used for any vehicles that have a similar steering linkage, they allow to analyze the impact of the vehicle design parameters on the turning kinematics and optimize them. Further study of the impact of the kingpin inclinations on the steering linkage kinematic and power characteristics are required.
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Joseph, Kenned Jack, and V. R. Patil. "A Laboratory Working Model on Steer by Wire System." Applied Mechanics and Materials 592-594 (July 2014): 975–79. http://dx.doi.org/10.4028/www.scientific.net/amm.592-594.975.
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I propose to design and test a steer-by-wire system will demonstrate that the physical connection between the steering wheel and the wheels of a car which can be eliminated in favor of a more robust system that allows for easy modifications. The system will mimic regular power steering and the driver will feel no difficulty in adjusting to the new system and yet will benefit from the many advantages of the system. Today’s automobiles benefit more and more from the vast applications of electronic systems. The integration of a steer-by-wire system can enhance these systems notably to a wide range. In particular, the handling and the safety of the cars can be improved significantly. Since a steer-by-wire system is easily modifiable, different drivers will be able to adjust the system to accommodate their styles and this will enhance easy handling. In addition, disabled people and the elderly will benefit immensely from steer-by-wire because they will be able to situate the steering wheel to meet special needs. Traction control systems are very closely tied with driving safety and they can be enhanced with steer-by-wire vastly [3]. For instance, if the car starts sliding and the driver loses control of the car, driven off the steering into the wrong side, the system could interfere and take over controls. Very sudden changes in steering could also be avoided with such a system. Since there are virtually no physical connections between the steering wheel and the wheels, a steer-by-wire system can be implemented on different cars easily. The steering wheel could be placed on either side of a car (or anywhere else). Both of these improvements would reduce costs of production and allow a wider range of designs eminently.
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Bulgakov, Volodymyr, Valerii Adamchuk, Volodymyr Nadykto, Volodymyr Kyurchev, and Ladislav Nozdrovický. "Theoretical Consideration of The Controllability Indicator of Machine-Tractor Unit Movement." Acta Technologica Agriculturae 20, no. 1 (March 1, 2017): 11–18. http://dx.doi.org/10.1515/ata-2017-0003.
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Abstract The paper is focused on the issues of controllability of machine-tractor units based on wheel-type tractors during their non-straight driving on the soil surface, which is positioned at an angle to the horizon. There were obtained analytical expressions for the determination of the actual indicator of control λd, including both the power and the design parameters of the machine-tractor unit, which affect the abovementioned indicator in the longitudinal vertical plane. These expressions are obtained for the tractor driving on both road and also driving during field operation. In addition, the paper discusses the conditions under which there may occur the cross-slip of the tractor steering wheels in the transversal horizontal plane. As a result of this review, there were obtained the analytical expressions for determining the required indicator of the controllability λd of machine-tractor unit in the horizontal plane, excluding the possibility of lateral sliding of the unit by turning its steering wheels at a certain angle. These expressions are obtained for the two modes of the machine-tractor unit: for driving during transport on the road and during the operation in the field. The machine-tractor unit based on the wheel-type tractor with rear mounted 3-mouldboard plough was analytically investigated. By means of computer calculations, there was observed the fact that when moving in non-straight direction on the soil surface, inclined to the horizon at an angle of 12°, the machine-tractor unit is controllable only when the angles of the steering wheel of the given tractor do not exceed 9°. During the working movement (ploughing) of the given machine-tractor unit on an inclined field surface, its controllability will be preserved on condition that the angle of the tractor steering wheels does not exceed 11°. According to obtained results, it can be stated that the controllability of the machine-tractor unit is determined by the indicator of controllability, taking into account the value of the vertical load acting on the tractor steering wheels, the possibility of their turning in the horizontal plane, as well as the withdrawal of the machine-tractor unit from rectilinear motion and its movement on the field surface, inclined at an angle to the horizon.
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Achuthan, P., E. Balu, A. Ravishankar, and S. Venugopal. "Pivot Steering Based Omnidirectional Mobile Platform." Applied Mechanics and Materials 592-594 (July 2014): 1147–50. http://dx.doi.org/10.4028/www.scientific.net/amm.592-594.1147.
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Synchro drive uses chain sprocket mechanism to drive three wheels at vertex of triangular chaises and has limited load bearing capacities due to asymmetry. The driving and steering motors fixed near to the vertex of the triangular chassis and wear in chains over a period of time results in increased dead reckoning. The concept of simple pivot based mobile platform using two drives overcasts a conventional synchro drive omnidirectional mobile platform in many aspects .This mobile platform has symmetric chassis with six wheels that makes platform stable irrespective of any configuration. Gear trains to steer the four corner wheels in tandem with pivot wheel adds omnidirectional feature along with increased load bearing capacities and reduced dead reckoning. This paper highlights the concept of pivot steer based omnidirectional mobile platform.
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Zhi, Jin Ning, Chang Le Xiang, and Yue Ma. "Study on Skid-Steering Drag Force Calculation and Model for Electric Ground Vehicle with Six In-Wheel Motors." Applied Mechanics and Materials 697 (November 2014): 402–6. http://dx.doi.org/10.4028/www.scientific.net/amm.697.402.
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The skid-steering vehicle is able to be steered by the speed difference of the inside and outside wheels created by controlling the torque distribution of all drive wheels. The three degree of freedom dynamic equations are established for electric ground vehicle with six in-wheeled motors, based on which the drag force calculation model is presented under steady skid-steering condition. Then the variation of resistance torque with the steer input and vehicle velocity is analyzed including its theoretic constraint limit. The steering resistance moment of the electric ground vehicle is compared with that of the tracked vehicle with the same vehicle parameters. In order to validate the calculation results, the virtual prototype model is created and the dynamic simulation is executed in ADAMS software. The results indicate that the resistance moment of electric ground vehicle is more than that of the tracked vehicle with same configurations and the computational model is correct.
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Tayebi, Javad, Chao Han, and Yuanjin Yu. "High accuracy disturbance observer-based agile attitude stabilization with three-dimensional MSW." Aircraft Engineering and Aerospace Technology 93, no. 5 (June 29, 2021): 862–69. http://dx.doi.org/10.1108/aeat-03-2021-0066.
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Purpose The purpose of this paper is agile attitude control design with the novel three-dimensional (3D) magnetically suspended wheel (MSW) that is the preferred type for agile maneuvering compared to conventional control moment gyro due to frictionless, low vibration and long lifetime. This system does not require a separate steering law for pyramid arrangement to derive tilt angles. It is also conducting an agile maneuver with high accuracy despite the high-frequency disturbances. Design/methodology/approach In this paper, a disturbance observer-based attitude stabilization method is proposed for an agile satellite with a pyramid cluster of the novel 3D magnetically suspended wheel actuator. This strategy includes a disturbance observer and a linear quadratic regulator controller. The rotor shaft deflection of MSW is actively controlled to reduce vibration and producing gyro torque. The deflection angle of the pyramid cluster MSWs considered as control parameters. The closed-loop stability is proved by using the Lyapunov strategy. The efficiency and performance of the offered method verified by numerical simulation via MATLAB/SIMULINK software. Findings According to simulation results, the disturbance observer-based control controller stabilized the system with high accuracy and optimal tilt angles without any extra steering law equation. Hence, the system speed is increased, and the system error is minimized without separate steering law. Practical implications The magnetically suspended wheel is a new kind of inertia actuator for attitude control that has several benefits such as frictionless, high-speed rotor, clean environment and low vibration compared to the traditional wheel. It has complex nonlinear dynamics that cause have complicated controller design. The proposed strategy stabilizes the system and conducting an agile maneuver with high precision despite the high-frequency disturbances. It is applicable for some missions requiring high accuracies, like Earth observation and the solar observation mission that require a very accurate pointing control and a long lifetime. Originality/value This paper is the initial paper to design a pyramid array for magnetically suspended wheels. Compared to other research, this method doesn’t need a separate steering law of the MSWs cluster and presented optimal tilt angles with less computational. Also, it designs a disturbance observer-based controller for this system that proposed high accuracy and agile stabilization.
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Tian, Jie, and Mingfei Yang. "Research on trajectory tracking and body attitude control of autonomous ground vehicle based on differential steering." PLOS ONE 18, no. 2 (February 8, 2023): e0273255. http://dx.doi.org/10.1371/journal.pone.0273255.
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The differential steering can be used not only as the backup system of steer-by-wire, but also as the only steering system. Because the differential steering is realized through the differential moment between the coaxial left and right driving wheels, the sharp reduction of the load on the inner driving wheel will directly lead to the failure of the differential steering when the four-wheel independent drive electric vehicle approaches the rollover. Therefore, this paper not only realizes the trajectory tracking of autonomous ground vehicle through the differential steering, but also puts forward the body attitude control to improve the handling stability. Firstly, the dynamic and kinematic models of differential steering autonomous ground vehicle (DSAGV) and its roll model are established, and the linear three-degree of freedom vehicle model is selected as the reference model to generate the ideal body roll angle. Secondly, a model predictive controller (MPC) is designed to control the DSAGV to track the given reference trajectory, and obtain the required differential moment and the resulting front-wheel steering angle. Then, a sliding mode controller (SMC) is adopted to control the DSAGV to track the ideal body roll angle, and obtain the required roll moment. The simulation results show that the proposed MPC and SMC can not only make the DSAGV realize the trajectory tracking, but also achieve the body attitude control.
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Dityatyev, Oleksandr. "Features of driving of the steering wheel driving cars." Journal of Mechanical Engineering and Transport 14, no. 2 (January 2022): 18–25. http://dx.doi.org/10.31649/2413-4503-2021-14-2-18-25.
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Existing methods of diagnosing steering can be characterized by low efficiency. For various reasons, both declarative and actual (supported by the equipment) methods, as a rule, have low accuracy and inability to localize faults. The car's built-in diagnostics cannot affect the situation due to the small number of sensors in the steering system. The reasons for the low accuracy of the methods include design features, low availability of components (low maintainability). Difficulties in localization of malfunctions are caused by the structural scheme which is characterized by parallel - consecutive construction. The parameters of diagnostic methods are analyzed, the proposed method is based on the structure of the steering, in the implementation of which test effects are applied to the steered wheels. In total it is necessary to carry out three measurements of backlashes and as a result of mathematical processing of results it becomes possible to localize malfunction in three links of consecutive elements of the steering mechanism or a steering drive. In accordance with this approach, steering is considered as a set of three structures - parallel and two sequential. Rack and pinion steering was used as a model. Here, the parallel structure includes elements of the steering linkage: swing arm, left and right; steering rod, left and right; steering rack - left and right hinges. The sequential structure - left, includes a swing arm, left; steering rod, left; steering rack hinge, left; steering gear, steering shaft, steering wheel. Accordingly, the sequential structure of the right includes similar elements with the attribute "right". The structure of the steering play is considered in a similar way. As a result, it becomes possible to obtain a transformed system of three algebraic equations connecting clearances in three groups of mates and backlashes in parallel and two sequential steering structures. To measure the backlash, the turntables of the BOSCH FWA 4410 stand were used; in another version, the wheels were hung out. As a result of tests carried out on VW GOLF, VW PASSAT and RENAULT 25 vehicles with significant mileage, data was obtained indicating the need for technical interventions on localized groups of interfaces.
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Gao, Jie, Chengqiang Yin, and Guanhao Yuan. "Warning and active steering rollover prevention control for agricultural wheeled tractor." PLOS ONE 17, no. 12 (December 30, 2022): e0280021. http://dx.doi.org/10.1371/journal.pone.0280021.
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Tractor rollover is regarded as the most fatal incident in agricultural production, but some of which can be avoided by timely anti-rollover warning and active control. There have been a lot of researches on the tractor rollover model building and rollover protective structure designing but few on the anti-rollover control. The purpose of this study is to develop a cheaper and practical anti-rollover control system based on active steering technique and to prove the efficiency of the proposed scheme for the wheeled tractors. A three-degree-of-freedom rollover dynamics model including automatic steering system is established. A control scheme by adjusting the roll angle to keep the stability based on the adaptive sliding mode control is proposed with the estimated lateral velocity according to the feedback correction principle. Front wheel angle tracking controller is designed adopting internal model control (IMC) theory. Simulation results exhibit that the active anti-rollover control can calculate the stability index in real time and can keep it within the stable range by adjusting the front steering wheel angle. It is prospective for the proposed scheme to provide a valuable reference to reduce tractor rollover accidents.
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Blatnický, Miroslav, Ján Dižo, Milan Sága, Denis Molnár, and Aleš Slíva. "Utilizing Dynamic Analysis in the Complex Design of an Unconventional Three-Wheeled Vehicle with Enhancing Cornering Safety." Machines 11, no. 8 (August 18, 2023): 842. http://dx.doi.org/10.3390/machines11080842.
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Current trends in the transportation industry prioritize competitive rivalry, compelling manufacturers to prioritize concepts such as quality and reliability. These concepts are closely associated with public expectations of safety, vehicle lifespan, and trouble-free operation. However, the public must recognize that a vehicle weighing several hundred kilograms, moving at a non-zero speed, only contacts the road surface through a few points (depending on the number of wheels), each no larger than a human palm. Therefore, it is imperative to operate the vehicle in a manner that optimizes the behavior of these contact points. There are situations where drivers find themselves requiring dynamic vehicle handling, often unpredictable with a high degree of uncertainty. Rapid changes in direction become necessary in these cases. Such maneuvers can pose a significant risk of rollover for three-wheeled vehicles. Hence, the vehicle itself should contribute to increased ride safety. This paper presents key findings from the development of an unconventional three-wheeled vehicle utilizing the delta arrangement. Rollover safety for three-wheeled vehicles is currently well-managed, thanks to the utilization of electronic or mechatronic systems in delta-type vehicles to enhance stability. However, these systems require additional components. In contrast, the proposed control system operates solely on a mechanical principle, eliminating operational costs, energy consumption, maintenance expenses, and similar factors. The study also explores the absence of equivalent suspension and steering systems for front-wheel steering. Such designs are lacking in both practical applications and theoretical realms. Analytical and simulation calculations are compared in this study, highlighting the effectiveness of the newly proposed control system in enhancing stability and safety compared to conventional front-wheel suspension systems. Simulation programs provide more realistic results than analytical calculations due to their ability to account for dynamic effects on vehicle components and passengers, which is practically unfeasible in analytical approaches. Furthermore, this study focuses on investigating the fatigue life of material frames subjected to dynamic loading, which is a crucial aspect of ensuring safety. It is essential to have various testing devices to examine the fatigue life of materials under both uniaxial and multiaxial loading conditions. However, obtaining experimental results for fatigue life measurements of specific materials, which can be directly applied to one’s research, poses significant challenges. Hence, the proposed testing device plays a vital role in measuring material fatigue life and advancing the development of unconventional transportation methods. The information about the original testing device aligns perfectly with the article’s emphasis on dynamic analysis. The ultimate objective of all these efforts is to put the vehicle into practical operation for commercial utilization.
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Lin, Chern-Sheng, Chia-Chang Chang, and Wei-Lung Chen. "DESIGN AND APPLICATION OF AN INTERACTIVE WHEELCHAIR TRAINING SYSTEM." Biomedical Engineering: Applications, Basis and Communications 20, no. 06 (December 2008): 377–85. http://dx.doi.org/10.4015/s1016237208000982.
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In this paper we constructed an interactive wheelchair rehabilitation training platform. The roller wheel on the platform is driven mainly by turning the wheelchair, and then the relative position of wheelchair on the screen can be adjusted based on the rotation speed of left and right wheels on the platform. Comparing the digital logic function when two wheels rotate at the same time and judging the variance in digital logic, the steering direction of wheels can be known and be controlled forward or backward. Additionally, the standard digital logic function could be individually judged when left wheel rotates and vice versa, so as to control the steering. Through judging three digital logic functions, the initial time of left wheel, next signal selecting time of left wheel, initial time of right wheel, and next signal selecting time of right wheel could be obtained, then the system can achieve the required direction control function through the judgment formula. The direction control function is indicated by standard digital logic function, so that the user can operate smoothly in the interactive situation software and make an interaction with the computer 3D simulation scene, the patient would have rehabilitation training through various 3D simulation real exteriors. This study not only provides basic trainings but also records the service behavior of wheelchair users, so that the rehabilitation consultant would have reference for the future diagnosis.
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Yamaguchi, Hiroaki. "Control of A New Type of Undulatory Wheeled Locomotor: A Trident Steering Walker Based on Chained Form." Journal of Robotics and Mechatronics 21, no. 4 (August 20, 2009): 541–53. http://dx.doi.org/10.20965/jrm.2009.p0541.
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This paper introduces and describes a new type of undulatory wheeled locomotor, which we refer to as a “trident steering walker.” The wheeled locomotor is a nonholonomic mechanical system, which consists of an equilateral triangular base, three joints, three links and four steering systems. The equilateral triangular base has a steering system at its center of mass. At each apex of the base is a joint which connects the base and a link. The link has a steering system at its midpoint. The wheeled locomotor transforms driving the three joints into its movement by operating the four steering systems. This means that the wheeled locomotor achieves undulatory locomotion in which changes in its own shape are transformed into its net displacement. We assume that there is a virtual joint at the end of the first link. The virtual joint connects the first link and a virtual link which has a virtual axle at its midpoint and a virtual steering system at its end. We prove that, by assuming the presence of such virtual mechanical elements, it is possible to convert the kinematical equation of the trident steering walker into five-chain, single-generator chained form in a mathematical framework, differential geometry. Based on chained form, we derive a path following feedback control method which causes the trident steering walker to follow a straight path. We also define a performance index of propulsion of the trident steering walker to design its control parameters. The validity of the mechanical design of the trident steering walker, the conversion of its kinematical equation into chained form, the straight path following feedback control method, and the design of the control parameters reflecting the performance index of propulsion has been verified by computer simulations.
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Liqiang, Wang, Qi Lin, Zhang Zhe, and HAN Zongqi. "Research on the compensation method of Indirect Tire Pressure Monitoring under Sinusoidal Driving Condition." MATEC Web of Conferences 153 (2018): 04007. http://dx.doi.org/10.1051/matecconf/201815304007.
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Indirect tire pressure monitoring method (ITPMS) is based on the wheel speed signal differences indirectly infer that the change of the tire pressure. In the steering mode, there is a large yaw rate, and there is a big deviation between the four wheels’ speed. The traditional indirect tire pressure monitoring method based on wheel speed comparison method is invalid. That the automobiles which is matched electronic stability control system estimate the four-wheel speed according to the yaw rate and steering wheel angle become an important method to improve the accuracy of Indirect tire pressure monitoring. Four-wheel vehicle kinematics model for turning condition is established to compensate for the wheel speed in the steering mode, avoid the misjudgment of indirect tire pressure monitoring system. The seven degree of freedom vehicle model and the four wheel speed model are established firstly, and analyse the four wheel speed change of the vehicle under the condition of a certain corner input in the simulation. Then conduct a test on the vehicle road, calculated using the four wheel speed distribution module model of vehicle wheel speed on the theoretical value of the actual value of the wheel speed compensation, so it can monitor the tire pressure in turning vehicle. When the error of the wheel speed is beyond the threshold, the wheel can be judged to be in the state of lack of gas.
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Aziz, Shamsul Akmar Ab, Mohd Zaki Nuawi, Mohd Jailani Mohd Nor, and Dian Darina Indah Daruis. "Comparison of Hand-Arm Vibration on Truck Steering Wheels Based on Speed Changes Using I-Kaz Method." Applied Mechanics and Materials 663 (October 2014): 411–14. http://dx.doi.org/10.4028/www.scientific.net/amm.663.411.
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Exposure to high levels of hand-arm vibration (HAV) from the steering wheels can present risks to health and safety to drivers. This study aim to do HAV comparison analysis on the Malaysian Army (MA) three-tonne truck steering wheels in three different speeds, when the truck is stationary with the engine switched on and when truck is moving at speed of 40 km/h and 80 km/h. HAV from the steering wheel were measured by using single axis piezoelectric accelerometer and was connected to Brüel & Kjær Vibration Analyser Type 3649, which is which is capable to produce tangential direction acceleration time discrete continuous raw data in units of meters per second squared (m/s2). The raw data were analyzed using statistical analysis I-kaz method to determine the HAV in relation to difference speed of the truck. Based on the results, HAV experienced by the drivers can be presented in frequency weighted HAVhwz, I-kaz coefficient (Z∞) and I-kaz display which the value will increase proportional to the truck speed.
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Xu, Bo, Sheng Min Cui, and Xiang Yu Wu. "Research on the Cornering Characteristics of Three-Axle Vehicle." Advanced Materials Research 945-949 (June 2014): 567–70. http://dx.doi.org/10.4028/www.scientific.net/amr.945-949.567.
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A multi-axle dynamic steering technology was proposed to solve the steering stability and maneuverability problem of heavy vehicle. Two degrees of freedom linear steering-model and motion-equations of three-axle vehicle was established. Taking the zero sideslip angle as the control target and the proportional rear-front wheel angle as control method, we got the angular scale-factor equation and related matrix of the state space and transfer function. The MATLAB software was used to simulate the different steering modes stability steady-state and transient response. The results show that by using proportional control method the sideslip angle can be stabilized near zero and by using multi-axle dynamic steering technology the stability and maneuverability of the vehicle when steering can be improved effectively.
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Wang, Dianjun, Meng Xu, Ya Chen, Haoxiang Zhong, Yadong Zhu, Zilong Wang, and Linlin Gao. "Positioning Method of Four-Wheel-Steering Mobile Robots Based on Improved UMBmark of Michigan Benchmark Algorithm." Journal of Advanced Computational Intelligence and Intelligent Informatics 27, no. 2 (March 20, 2023): 135–42. http://dx.doi.org/10.20965/jaciii.2023.p0135.
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To reduce the error of the odometer positioning system and improve the positioning accuracy of four-wheel-steering mobile robots, three types of coupling errors are considered, based on the University of Michigan Benchmark (UMBmark) method: unequal track width, unequal wheel diameter, and speed difference of ipsilateral wheels. A “dual direction square path experiment” is designed to decouple the error, a new system error model is defined, and an improved UMBmark method for a four-wheel mobile robot is proposed. In the mobile robot positioning system, a laser tracker is used to measure the absolute positions of the starting and ending points of the robot. The positioning test results of the robot using the improved UMBmark method show that the odometer system error is 69.103 mm, which is 2.6 times less than that in the traditional UMBmark method. Hence, the improved UMBmark can better compensate for the system error of four-wheel-steering mobile robots.
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Barker, M., B. Drew, J. Darling, K. A. Edge, and G. W. Owen. "Steady-state steering of a tilting three-wheeled vehicle." Vehicle System Dynamics 48, no. 7 (November 19, 2009): 815–30. http://dx.doi.org/10.1080/00423110903147474.
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Tan, Hui, Sheng Min Cui, Kun Zhang, Ren Jie Sun, and Ming Jin Lin. "Optimal Control for Three-Axle Vehicle's All-Wheel Steering." Applied Mechanics and Materials 345 (August 2013): 104–7. http://dx.doi.org/10.4028/www.scientific.net/amm.345.104.
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In order to develop fieldwork car’s dynamic stability, a new control system for three-axle vehicle’s all-wheel steering is put forward. A nonlinear three degree of freedom (3-DOF) all-wheel steering model is built. The tire’s magic formula and the tire vertical load’s solving method based on displacement are applied to the model and the ideal yaw rate is given. Using feedforward and feedback control algorithm, a zero sideslip angle proportional feedforward and optimal feedback control system is designed. The system is simulated on MATLAB/Simulink platform and results show the vehicle’s dynamic stability is obviously developed.
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Isomura, A. "Human factors on driver's steering wheel operation: Three parameters evaluating characteristics of driver's steering wheel operations." JSAE Review 16, no. 4 (October 1995): 399–402. http://dx.doi.org/10.1016/0389-4304(95)00039-a.
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Blatnický, Miroslav, Milan Sága, Ján Dižo, and Marek Bruna. "Application of Light Metal Alloy EN AW 6063 to Vehicle Frame Construction with an Innovated Steering Mechanism." Materials 13, no. 4 (February 11, 2020): 817. http://dx.doi.org/10.3390/ma13040817.
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Nowadays the automotive industry is mainly focused on competition, and this fact forces vehicle producers to constantly look for improvements in the areas of quality and reliability. Life-span, flawless operation, and safety are directly interconnected. Therefore, much attention and resources are spent on research factors that affect the stated properties. Significant capital is invested in the optimization of the constructional solutions and innovative material applications related to the safety and durability of the constructions. This paper presents the results obtained while developing a new ecological three-wheeled vehicle. The main research areas were focused on replacing the original material with a light aluminum alloy, while achieving a substantial improvement in drivability for the three-wheeled vehicle by implementing a modified front wheel steering system. The submitted research achieved a weight reduction of the frame by 40 kg by applying light material substitution (EN AW 6063.T66), which will naturally have a positive impact on the range of the designed electric vehicle; furthermore, we implemented an innovative steering mechanism optimized during the experimental operations.
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Singh, Sanjay Kumar, Sanjay Kumar Sharma, and Akhilesh Kumar Verma. "All Wheel Steering System." SAMRIDDHI : A Journal of Physical Sciences, Engineering and Technology 7, no. 02 (December 25, 2015): 105–8. http://dx.doi.org/10.18090/samriddhi.v7i2.8634.
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Now a days most of the vehicles are use the two wheel steering system mechanism as their main handling system but, the efficiency of two wheel steering vehicle is proven to be low compared to all wheel steering vehicles. All wheel steering system can be employed in some vehicles to improve vehicle response, increase vehicle stability while moving at certain speed, or to decrease turning radius at low speed. All wheel steering is a technologically, tremendous effort on heavy loaded vehicles. Hence, there is a requirement of a mechanism which result in less turning radius and it can be achieved by implementing all wheel steering mechanism instead of regular two wheel steering.
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Somvanshi, Mr Ajay. "Design and Analysis of Alloy Wheel." International Journal for Research in Applied Science and Engineering Technology 9, no. VI (June 30, 2021): 3983–91. http://dx.doi.org/10.22214/ijraset.2021.36125.
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Importance of wheel in the automobile is obvious. The vehicle (car) may be towed without the engine but at the same time even that is not possible with out the wheels, the wheels along the tyre has to carry the vehicle load provide cushioning effect and cope steering control. The main requirement of automobile wheel it must be strong and perform all operations above functions. It should be balanced both statically as well as dynamically. It should be lightest possible so that the unsprung weight is least. The wheel has to pass three types of test before going production, they are cornering fatigue test. Radial fatigue test and Impact test. In this thesis radial fatigue analysis is done to find the number of cycles at which the wheel is going to fail. The wheel is meshed using SOLID 45 element. A load of 2500N was applied on the hub area of the wheel and a pressure of 0.207N/mm2 is applied on the surface of rim.
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Kwietniewski, Marek, and Tadeusz Bil. "Analysis of the Modified Construction of the Column Mechanism MacPherson." AUTOBUSY – Technika, Eksploatacja, Systemy Transportowe 19, no. 11 (November 30, 2018): 41–44. http://dx.doi.org/10.24136/atest.2018.344.
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The McPherson column name comes from the inventor of this Earle S. MacPherson solution, which was first manufactured at the Ford plant in 1949. This is one of the most commonly used types of front suspension in popular passenger cars. The advantage of this type of suspension is a compact construction, but the disadvantage is. The influence of the damping motion on the position of the steering wheel may result in an unintentional change of direction of travel. At the same time, there is a slight additional tilt of the wheels when the "spring" movement. In the proposed solution, partial elimination of this type of incorrectness is proposed by changing the type of connection of the steering rod end to the steering wheels of the vehicle. The introduced change consists in replacing one of the spherical joints in these joints into two rotary joints. Such a change introduces a mathematical model describing the behavior of the suspension under the influence of the depreciation of additional parameters. Proper selection of these parameters allows for significant reduction of unnecessary direction changes during driving. The described model of the structure of the mechanism allows to analyze the influence of all its dimensions on the selected parameters of the behavior of the wheels during the ride, resulting from the movement of the suspension and steering.
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Wu, Chien-Hsun, Wei-Chen Lin, and Kun-Sheng Wang. "Mechatronics and Remote Driving Control of the Drive-by-Wire for a Go Kart." Sensors 20, no. 4 (February 23, 2020): 1216. http://dx.doi.org/10.3390/s20041216.
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This research mainly aims at the construction of the novel acceleration pedal, the brake pedal and the steering system by mechanical designs and mechatronics technologies, an approach of which is rarely seen in Taiwan. Three highlights can be addressed: 1. The original steering parts were removed with the fault tolerance design being implemented so that the basic steering function can still remain in case of the function failure of the control system. 2. A larger steering angle of the front wheels in response to a specific rotated angle of the steering wheel is devised when cornering or parking at low speed in interest of drivability, while a smaller one is designed at high speed in favor of driving stability. 3. The operating patterns of the throttle, brake, and steering wheel can be customized in accordance with various driving environments and drivers’ requirements using the self-developed software. The implementation of a steer-by-wire system in the remote driving control for a go kart is described in this study. The mechatronic system is designed in order to support the conversion from human driving to autonomous driving for the go kart in the future. The go kart, using machine vision, is wirelessly controlled in the WiFi frequency bands. The steer-by-wire system was initially modeled as a standalone system for one wheel and subsequently developed into its complete form, including front wheel steering components, acceleration components, brake components, a microcontroller, drive circuit and digital to analog converter. The control output section delivers the commands to the subsystem controllers, relays and converters. The remote driving control of the go kart is activated when proper commands are sent by the vehicle control unit (VCU). All simulation and experiment results demonstrated that the control strategies of duel motors and the VCU control were successfully optimized. The feasibility study and performance evaluation of Taiwan’s go karts will be conducted as an extension of this study in the near future.
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Zhao, Ren Cai, Xu Ma, Long Qi, and Rui Chuan Li. "Simulation Study on Tractor’s Same-Rut-Steering Mechanism." Advanced Materials Research 338 (September 2011): 236–40. http://dx.doi.org/10.4028/www.scientific.net/amr.338.236.
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When tractor steers in the same rut, it can not only improve its flexibility in steering, but also reduce soil compaction and crop rolling. In this paper , the concept of tractor steering in the same rut was proposed on the basis of four-wheel-steering (4WS) theory, and the angle relationship between front wheel and rear wheel, which can achieve the same-rut-steering, was established. A three dimensional parameterized model of tractor’s same-rut-steering mechanism was established by the Pro/E software, and its running tracks were simulated in the ADAMS environment. Simulation results show that the same-rut-steering accuracy was affected to some extent when tractor’s speed or steering wheel deflection rate was changed. At last, methods for improving the same-rut-steering accuracy were put forward.
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Shi, Yan, Junxiong Hu, and Weihua Ma. "Study on the Characteristics of Traction Forces Difference Asymmetric Steering Bogies." Shock and Vibration 2016 (2016): 1–10. http://dx.doi.org/10.1155/2016/7230326.
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This article comes up with a new concept of applying the difference between traction forces on front and rear wheelsets to guiding control, as well as the design of a new type of structurally simple asymmetrical radial bogies, which lead to the proposition of traction forces difference-steering asymmetric radial bogies. The traction forces difference-steering asymmetric radial bogies are referred to as TFDA-bogies, in which the difference of longitudinal creep forces between front and rear wheels produces radial steering of both wheelsets. The concept of traction difference is incorporated into guiding control and bogie structure is also simplified in the form of asymmetrical radial bogies. Angle sensors are mounted to facilitate the change of electric currents of the front and rear traction motors to control the guiding mechanism so that wheelsets can adopt the radial position. With SIMPACK, the multibody dynamics analysis software, three whole vehicle models of TFDA-bogies, radial bogies, and conventional bogies are set up and comparative analyses are made on the lead wheel angle of attack, lead wheel lateral force, lead wheel friction power, and total vehicle friction power under idle running condition and traction condition, respectively. Results show that TFDA-bogies are radial bogies with simplified structure.
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Jiang, Junxia, Shenglin Zhang, and Yuxiao He. "Wheel design and motion analysis of a new heavy-duty AGV in aircraft assembly lines." Assembly Automation 40, no. 3 (December 16, 2019): 387–97. http://dx.doi.org/10.1108/aa-01-2019-0009.
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Purpose The flexible automatic transportation and manual assembly jobs for large aircraft components demand an automated guided vehicle (AGV) system with heavy-duty capacity and omnidirectional movability. This paper aims to propose a four driving-steering wheels-four supporting-steering wheels (4DSW-4SSW) layout plan to enhance the controllability and moving stability of AGV. Design/methodology/approach The anti-vibration structure of DS wheels and high-torque steering mechanism of SS wheels with tapered rolling bearings are rigorously designed to meet the functional requirements. Based on the specific wheel layout and vehicle dynamics, the rotational kinematic model as well as the straight and rotational dynamic models of AGV are established by the authors. To well verify the motion characteristics of wheels under heavy load in three motion states including straight motion, self-rotation and rotation around a certain point, the simulations in ADAMS and factory experiments have all been conducted. Findings Simulation results indicate that normal and friction forces of DS wheels and SS wheels are very stable except for some small oscillations, which are caused by non-center load distribution on AGV. Experimental results on driving speed of AGV have directly demonstrated that its positioning accuracy is enough for use in real aircraft assembly lines. Practical implications The designed AGV system has been applied to the final assembly line of a certain aircraft in Aviation Industry Corporation of China, Ltd, whose assembly efficiency and flexibility have been significantly improved. Originality/value A new layout plan of wheels for an omnidirectional heavy-duty AGV is proposed, which enhances the operating and moving capacity of AGV. A function of human-machine collaboration is also offered by the AGV for transporting large workpieces intelligently and economically in aerospace and other heavy industries.
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Nacpil, Edric John Cruz, Rencheng Zheng, Tsutomu Kaizuka, and Kimihiko Nakano. "A surface electromyography controlled steering assistance interface." Journal of Intelligent and Connected Vehicles 2, no. 1 (August 29, 2019): 1–13. http://dx.doi.org/10.1108/jicv-11-2018-0011.
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Purpose Two-handed automobile steering at low vehicle speeds may lead to reduced steering ability at large steering wheel angles and shoulder injury at high steering wheel rates (SWRs). As a first step toward solving these problems, this study aims, firstly, to design a surface electromyography (sEMG) controlled steering assistance interface that enables hands-free steering wheel rotation and, secondly, to validate the effect of this rotation on path-following accuracy. Design/methodology/approach A total of 24 drivers used biceps brachii sEMG signals to control the steering assistance interface at a maximized SWR in three driving simulator scenarios: U-turn, 90º turn and 45º turn. For comparison, the scenarios were repeated with a slower SWR and a game steering wheel in place of the steering assistance interface. The path-following accuracy of the steering assistance interface would be validated if it was at least comparable to that of the game steering wheel. Findings Overall, the steering assistance interface with a maximized SWR was comparable to a game steering wheel. For the U-turn, 90º turn and 45º turn, the sEMG-based human–machine interface (HMI) had median lateral errors of 0.55, 0.3 and 0.2 m, respectively, whereas the game steering wheel, respectively, had median lateral errors of 0.7, 0.4 and 0.3 m. The higher accuracy of the sEMG-based HMI was statistically significant in the case of the U-turn. Originality/value Although production automobiles do not use sEMG-based HMIs, and few studies have proposed sEMG controlled steering, the results of the current study warrant further development of a sEMG-based HMI for an actual automobile.
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Mohanraj, A. P., A. Elango, and Mutra Chanakya Reddy. "Front and Back Movement Analysis of a Triangle-Structured Three-Wheeled Omnidirectional Mobile Robot by Varying the Angles between Two Selected Wheels." Scientific World Journal 2016 (2016): 1–11. http://dx.doi.org/10.1155/2016/7612945.
Full textAbstract:
Omnidirectional robots can move in all directions without steering their wheels and it can rotate clockwise and counterclockwise with reference to their axis. In this paper, we focused only on front and back movement, to analyse the square- and triangle-structured omnidirectional robot movements. An omnidirectional mobile robot shows different performances with the different number of wheels and the omnidirectional mobile robot’s chassis design. Research is going on in this field to improve the accurate movement capability of omnidirectional mobile robots. This paper presents a design of a unique device of Angle Variable Chassis (AVC) for linear movement analysis of a three-wheeled omnidirectional mobile robot (TWOMR), at various angles (θ) between the wheels. Basic mobility algorithm is developed by varying the angles between the two selected omnidirectional wheels in TWOMR. The experiment is carried out by varying the angles (θ= 30°, 45°, 60°, 90°, and 120°) between the two selected omniwheels and analysing the movement of TWOMR in forward direction and reverse direction on a smooth cement surface. Respectively, it is compared to itself for various angles (θ), to get its advantages and weaknesses. The conclusion of the paper provides effective movement of TWOMR at a particular angle (θ) and also the application of TWOMR in different situations.
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Marchuk, Roman, Nazar Marchuk, Volodymyr Sakhno, and Viktor Poliakov. "To determine the stability of the metrobus in unstable driving modes." Archives of Automotive Engineering – Archiwum Motoryzacji 91, no. 1 (March 31, 2021): 63–79. http://dx.doi.org/10.14669/am.vol91.art5.
Full textAbstract:
Recently in many cities of the world began to introduce so-called «metrobus» or BRT (Bus Rapid Transit) systems, which became a cheaper alternative to the metro and other rail transport, in particular trams. The aim of the work is to determine the stability indicators of the metrobus in the transitional traffic modes, in particular when performing such manoeuvres as «steering wheel jerk» and «shuffle». For this purpose, the equations of metrobus plane-parallel motion are supplemented by equations of the links of the road train in the vertical plane by halopilation (tangage, trim) and roll.The critical straight-line speed of the three-link metrobus has been determined, which was 32,06 m/s, and this speed is independent of the corners of the steering wheels of the bus and the trailer links.It has been shown that as the steering wheel angle of the bus increases, the difference in the folding angles of the bus increases, with the second folding angle significantly exceeding the first, especially considering the roll of the metrobus body. It has been established that the greatest rolls and loads of the metrobus axles are those of the last trailer, which is the limiting factor for the critical speed. The lateral accelerations of individual metrobus links and their yaw velocity when performing the manoeuvre «steering wheel jerk» and «shuffle, Sl = 24 m», show that both the bus and the second trailer link are a limiting factor when performing various manoeuvres, but the acceleration value does not exceed the permissible 0,4g, so its stability under these conditions is ensured.