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Artículos de revistas sobre el tema "Steering test bench"

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Publicado: 10 de marzo de 2023

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1

Yang, Yong, Xiao Jun Zhou y Chen Long Yang. "Models of Two-Axle Driving Vehicle Used for Dynamometer Test Bench". Applied Mechanics and Materials 528 (febrero de 2014): 353–58. http://dx.doi.org/10.4028/www.scientific.net/amm.528.353.

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In this paper, some vehicle models used for dynamometer test bench are put forward to adapt different performance tests of two-axle vehicle. Firstly, the vehicle driving model with two degrees of freedom is established by analyzing the force condition of a moving vehicle. And it can be used in performance tests which do not need complex road condition, such as acceleration test. Secondly, considering pitching motion of vehicle, the driving model with three degrees of freedom is proposed and applied to performance tests which need complex road condition, like thermal balance test or road simulation experiment. Finally, in order to do steering performance test in dynamometer test bench, the driving model is modified by considering the influence caused by steering and combines steering model to become a whole steering model of vehicle. Those models mentioned above provide theoretical support in dynamometer test bench researching.
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2

Nippold, Christoph, Ferit Küçükay y Roman Henze. "Analysis and application of steering systems on a steering test bench". Automotive and Engine Technology 1, n.º 1-4 (23 de mayo de 2016): 3–13. http://dx.doi.org/10.1007/s41104-016-0006-0.

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3

Nippold, Christoph, Ferit Küçükay y Roman Henze. "Test Bench Based Pre-application of Steering Systems". ATZ worldwide 119, n.º 1 (enero de 2017): 70–75. http://dx.doi.org/10.1007/s38311-016-0153-y.

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4

Shen, Rong Wei, Xiao Hong Tai, Jiong Gang Han y Ze Gang He. "Development of Test Bench of Electric Power Steering System for Electric Bus". Applied Mechanics and Materials 347-350 (agosto de 2013): 337–41. http://dx.doi.org/10.4028/www.scientific.net/amm.347-350.337.

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A kind of test bench of electric power steering system for electric bus was designed. The spiral spring was assembled as load equipment. The measure and control software is based on virtual instrument technology. The test bench has manual and electric powered input modes. Test results show that the test bench can verify the control strategies and detect the performance of the EPS prototype of electric bus.
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5

Lu, Zhi Xiong, Jiang Xue Chang, Xue Feng Bai, Yang Lu y Jun Gan Wu. "Analysis of Steering Control Strategy on Tractor's Hydraulic Steering By-Wire System". Applied Mechanics and Materials 487 (enero de 2014): 630–34. http://dx.doi.org/10.4028/www.scientific.net/amm.487.630.

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The structure and working principle of the hydraulic steering by-wire system were described, and the optimal control algorithm of the system was obtained by the comparative analysis. Fuzzy control was chosen as the steering systems control algorithm, and it can realize closed-loop control of the front wheel corner. Matlab/Simulink was used for the simulation of the entire system. The simulation got the fuel tank displacements response curve, and verified the accuracy of the system design, which can provide a reference to the design of tractors steering system. Bench test was proposed to verify the accuracy of the system. The bench test results showed that the hydraulic steering by-wire controller can realize systems steering function well, and the system improved the control accuracy and fast response characteristics.
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6

Rautenberg, Philip, Clemens Kurz, Martin Gießler y Frank Gauterin. "Driving Robot for Reproducible Testing: A Novel Combination of Pedal and Steering Robot on a Steerable Vehicle Test Bench". Vehicles 4, n.º 3 (22 de julio de 2022): 727–43. http://dx.doi.org/10.3390/vehicles4030041.

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Shorter development times, increased standards for vehicle emissions and a greater number of vehicle variants result in a higher level of complexity in the vehicle development process. Efficient development of powertrain and driver assistance functions under comparable and reproducible operating conditions is possible on vehicle test benches. Yet, the realistic simulation of real driving environments on test benches is a challenge. Current test procedures and new technologies, such as Real Driving Emission tests and Autonomous Driving, require a reproducible and even more detailed simulation of the driving environment. Due to this, the simulation of curve driving in particular is gaining in importance. This results from its significant influence on energy consumption and Autonomous Driving functions with lateral guidance, such as lane departure and evasion assistance. Reproducibility can be additionally increased by using a driving robot. At today’s vehicle test benches, pedal and shift robots are predominantly used for longitudinal dynamic tests in the performed test procedures. In order to meet these new test automation requirements for vehicle test benches, the cooperative operation of pedal and steering robots is needed on a test bench setup suitable for this purpose. In this publication, the authors present the setup of a vehicle test bench to be used in automated and reproducible vehicle-in-the-loop tests during steering events. The focus is on the test-bench-specific setup with steerable front wheels, the actuators for simulating the wheel steering torque around the steering axle and the robots used for pedals and steering wheel. Results from various test series are presented and the potential of the novel test environment is shown. The results are reproducible in various test series due to the closed-loop operation without human driving influences at the test bench.
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7

Tai, Xiao Hong, Jiong Gang Han, Rong Wei Shen y Ze Gang He. "The Development of Test Bench for Electric Power Steering System Based on Virtual Instrument Technology". Applied Mechanics and Materials 333-335 (julio de 2013): 2319–22. http://dx.doi.org/10.4028/www.scientific.net/amm.333-335.2319.

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A kind of test bench of electric power steering system was designed. The measure and control software was developed for the test bench based on virtual instrument technology. The test was carried out. Test results show that the measure and control software can detect the performance of the EPS prototype of electric bus.
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8

Mitov, Alexander, Jordan Kralev y Ilcho Angelov. "Cascade control algorithm of test bench for studying loadsensing electrohydraulic steering systems". MATEC Web of Conferences 234 (2018): 02006. http://dx.doi.org/10.1051/matecconf/201823402006.

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The paper presents the design and synthesis of a three-loop cascade control system with a digital PI controller intended for installation in a test bench for load-sensing electrohydraulic steering units. The structure and layout of both the hydraulic system and the control system are shown. The cascade control system consists of three controllers for measurable variables: proportional spool valve position, steering velocity and steering cylinder position. The developed control algorithm is embedded into a 32-bit microcontroller for mobile applications. Experimental studies have been carried out to present the performance of the entire electrohydraulic system. The developed control algorithm will serve as a basis for further study of the system with advanced control techniques implementable in low speed mobile machines.
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9

He, Ping, Zhu Rong Dong, Cheng Wei Han y Song Hua Hu. "Design and Test Development of a Comprehensive Performance Test Bench for Electric Wheel". Applied Mechanics and Materials 644-650 (septiembre de 2014): 817–22. http://dx.doi.org/10.4028/www.scientific.net/amm.644-650.817.

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In order to research the driving performance of electric vehicle driven by the electric wheels and provide the test basis to the design of electric vehicle, the author of the paper designed and developed a multifunctional comprehensive performance test bench for electric wheel. Such test bench has the basic functions of road simulation, resistance simulation, vehicle weight simulation and inertia simulation, and the other functions of steering simulation, coupling simulation of electric braking and mechanical coupling, wheel hub motor performance test lamp. The author of the paper made certain design for the relevant test items, which has far-reaching significance for the test and research of the battery electric vehicle (BEV) driven by the wheel hub motor.
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10

Luo, Yan Jie, Jia Chen Li y Yun Fei Mai. "Simulation and Inertial Force Research of Three-Channel Hydraulic Loading Test Bench". Applied Mechanics and Materials 543-547 (marzo de 2014): 1331–34. http://dx.doi.org/10.4028/www.scientific.net/amm.543-547.1331.

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This paper states the control principle of the three-channel hydraulic loading test bench for automobile steering gear test. The test bench model considering inertial force is constructed and simulated. The Integral-Separated PID control algorithm is adopted to optimize control effect and the respond features of the input signals are analyzed. The simulation results show that the system works steadily, the accuracy of synchronization control is better and the tracking control achieves well.
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11

Mai, Yun Fei, Wen Jing Ding y Shao Long Liu. "Research on the PID Tuning of Electric Power-Assisted Steering Test Bench System". Applied Mechanics and Materials 490-491 (enero de 2014): 964–67. http://dx.doi.org/10.4028/www.scientific.net/amm.490-491.964.

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Electric power-assisted steering(EPAS) bench system can be used for fatigue and functional testing of automotive steering .To get a better performance and higher precision of EPAS system, theory analysis and simulation about passive loading system is carried out in this paper. A new strategy combined particle swarm optimization with PID algorithm is put forward to solve the shortcomings of traditional method. Simulations in different methods show the effectiveness of it.
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12

Zhu, Chuan Qi, Sen Wu y Yun Zhen Yang. "Research on Electronic Differential Speed Control for In-Wheel Motor Drive Electric Vehicle". Applied Mechanics and Materials 525 (febrero de 2014): 337–41. http://dx.doi.org/10.4028/www.scientific.net/amm.525.337.

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The paper studies control strategy of electronic differential for four in-wheel motors independent drive vehicle. For the in-wheel motor independent drive electric vehicle, the differential speed relationship among the two wheels is analyzed according to the Ackermann&Jeantand steering mode, building the steering differential speed mode which adapt to bench test. When a vehicle drives on a straight line, the speed of each drive wheel is equal. While on a curve, the speed between the inner wheel and the outer one must be different in order to maintain vehicle stability and avoid vehicle skid. The all wheels must meet the requirement of angular speed. Based on Matlab/Simulink software , As a input, vehicle structure parameter, steering angular and so on, this model of differential speed was structured, drive wheel differential speed relationship at different steering wheel angles was determined .Finally, this electronic differential speed control for in-wheel motor drive electric vehicle is validated through PID control closed loops bench simulation test .
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13

Zhang, Ming, Rongmin Jiang y Hong Nie. "Design and Test of Dual Actuator Nose Wheel Steering System for Large Civil Aircraft". International Journal of Aerospace Engineering 2016 (2016): 1–14. http://dx.doi.org/10.1155/2016/1626015.

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In order to improve aircraft ground handling characteristics and airport working efficiency, large handling angle and torque are requested for the nose wheel steering system of large civil aircraft. A following swivel selector valve is firstly designed to meet the demand for the hydraulic pressure commutating as soon as the dual actuator nose wheel steering mechanism passes through its dead center position. Considering the multiple objective functions of nose wheel steering mechanisms, those core design parameters are multiobjective optimized. A nose wheel steering electrohydraulic servo system with handling and antishimmy functions is designed for the steering mechanism. Then the prototypes of the steering mechanism and electrohydraulic servo system are researched to validate the design. Using the swing actuator to provide the load torque and ground excitation, the steering test bench is prepared to test the system working. The steering test and the antishimmy test are conducted to verify the functions of the system. The test results, such as steer angle, steer torque hydraulic pressure, and antishimmy torque, are analyzed in detail and compared with the theoretical results. The results show that the property of the prototype achieves the design objectives, such as work mode, steer angle, and steer torque.
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14

Li, Yanhua y Wenguang Xiao. "Design of a beam-steering test bench based on OpenVPX architecture". Journal of Engineering 2019, n.º 23 (1 de diciembre de 2019): 9215–19. http://dx.doi.org/10.1049/joe.2018.9219.

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15

Evseev, Kirill, Aleksey Dyakov, Roman Goncharov y Konstantin Chutkov. "Experimental Research of 4x4 ATV Motion Along the Curved Trajectory at the Test Bench". MATEC Web of Conferences 346 (2021): 03085. http://dx.doi.org/10.1051/matecconf/202134603085.

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The article presents the results of experimental evaluation value of the reactive torque on the ATV steering shaft during its motion along circle. The tests were carried out on a test bench. The developed method provides for experiments on trajectories of different curvature. Three races were performed for each radius.
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16

Niu, Zi Ru, Gang Yan Li, Shun Zeng, Tian Li Yan, Si Yu Zhang y Wei Wang. "Research on the Variable Ratio Gear Modeling and Transmission Ratio Test Method of Rack and Pinion Variable Ratio Steering Gear". Applied Mechanics and Materials 721 (diciembre de 2014): 157–61. http://dx.doi.org/10.4028/www.scientific.net/amm.721.157.

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A new modeling method for the variable ratio gear of the rack and pinion variable ratio steering gear was proposed in this paper. It was based on the characteristic that variable ratio gear pair meshing tooth profile surface are the envelope surface of each other and established a variable ratio gear three-dimensional model by simulating the gear machining process in CATIA and using Boolean subtraction operation. According to the related test standard of the variable ratio steering gear transmission ratio, a test bench was design and build, and the correctness of this modeling method was verified by comparing the designed variable ratio curve and the steering gear sample designed and processed by this method.
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17

Zhang, Weidong y Yibo Ai. "Design and Control Implementation of AC Electric Power Steering System Test Bench*". Physics Procedia 24 (2012): 1006–11. http://dx.doi.org/10.1016/j.phpro.2012.02.150.

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18

Fu, Xiang, Di Xu y Yong He. "Design and Development of Test-Bed of Motor-Wheel-Drive Electric Vehicle". Applied Mechanics and Materials 321-324 (junio de 2013): 1535–38. http://dx.doi.org/10.4028/www.scientific.net/amm.321-324.1535.

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In this paper, firstly, the function of test-bed of motor-wheel-drive Electric Vehicle has been clarified, the frame structures of test-bed has been designed and built. Secondly, control algorithm of motor-wheel-drive Electric Vehicle has been established, including vector control algorithm model, digital PID algorithm model and electronic differential control algorithm model, the control system of test-bed has been designed. Lastly, based on the test bed, the control algorithm of motor-wheel-drive Electric Vehicle has been verified by bench test. The bench test results show that, the control algorithm of motor-wheel-drive Electric Vehicle can achieve straight-ahead control and steering control, which laid the foundation for the future of the real vehicle tests.
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19

Qu, Jiwei, Zhe Zhang, Hongji Li, Ming Li, Xiaobo Xi y Ruihong Zhang. "Design and Experiments of a Two-Stage Fuzzy Controller for the Off-Center Steer-by-Wire System of an Agricultural Mobile Robot". Machines 11, n.º 2 (20 de febrero de 2023): 314. http://dx.doi.org/10.3390/machines11020314.

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This paper focuses on the steering motion control of an in-wheel motor-drive robot. The influence of the pulse-width modulation (PWM) duty cycle on steering motion and the steering control method have not yet been proved. Thus, this study aimed to design a steering controller for the off-center steer-by-wire system of a robot. The influence of the PWM duty cycle on the steering motion under different conditions is firstly tested on a test bench. Based on the optimal duty cycles of different cases found in the test, a two-stage fuzzy controller of the duty cycle is designed for the steering system. The first stage of the controller is used to dynamically adjust the PWM duty cycle of the electromagnetic friction lock (EFL). The second stage is designed to realize the self-tuning of the fuzzy controller’s quantization factor and the scale factor. Through two-stage control, the motion of the in-wheel motor and the EFL can be coordinated to realize stable and rapid steering. Considering the robots’ primary application in field roads at present, road tests were ultimately conducted to verify the proposed method. The test results show that the angle response rate of the steering arm is elevated with the increase in the steering angle signal. The proposed controller can sensitively track the target angles with smaller overshoot, yaw rate and lateral acceleration, and better steering accuracy than the PID (proportional–integral–differential) controller under different working conditions.
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20

Silva, José Antônio, Gláucio C. Laun Nacif y Luben Cabezas-Goméz. "Continuous Improvements Analysis in Energy Efficiency of Steering Power Systems to Light Vehicles". Applied Mechanics and Materials 798 (octubre de 2015): 92–96. http://dx.doi.org/10.4028/www.scientific.net/amm.798.92.

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This study analyses the energy consumption of a vehicle steering system and evaluates potential earnings in using more efficient systems. The energy consumption of the steering system to provide assistance can be until 3% of the vehicle total energy consumption. The technology evolution of the steering system provides a significant reduction in energy consumption. Three types of steering systems were evaluated: Hydraulic Power System, Electro-Hydraulic Power System and Electrical Power System, respectively, considering the consumption and the energy efficiency of their components. Some evaluations of the energy consumed by system components were performed using data from the available sources in the literature and other evaluations were performed via experimental tests on a bench test. A comparative study was set to determine the differences between steering systems regarding the energy consumption and energy efficiency. Consumption analysis of steering system were extended to evaluate the impact in the final vehicle consumption. The Electrical Power System can increase the efficiency in fuel use during operation in the vehicle.
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21

Jiang, Haobin, Huan Tian, Yiding Hua y Bin Tang. "Research on Control of Intelligent Vehicle Human-Simulated Steering System Based on HSIC". Applied Sciences 9, n.º 5 (4 de marzo de 2019): 905. http://dx.doi.org/10.3390/app9050905.

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The experienced drivers with good driving skills are used as objects of learning, and road steering test data of skilled drivers are collected in this article. First, a nonlinear fitting was made to the driving trajectory of skilled driver in order to achieve human-simulated control. The segmental polynomial expression was solved for two typical steering conditions of normal right-steering and U-turn, and the hp adaptive pseudo-spectral method was used to solve the connection problem of the vehicle segmental driving trajectory. Second, a new Electric Power Steering (EPS) system was proposed, and the intelligent vehicle human-simulated steering system control model based on human simulated intelligent control (HSIC) was established in Simulink/Carsim joint simulation environment to simulate and analyze. Finally, in order to further verify the effectiveness of the proposed algorithm in this article, an intelligent vehicle steering system test bench with a steering resistance torque simulation device was built, and the dSPACE rapid prototype controller was used to realize human-simulated intelligent control law. The results show that the human-simulated steering control algorithm is superior to the traditional proportion integration differentiation (PID) control in the tracking effect of the steering characteristic parameters and passenger comfort. The steering wheel angle and torque can better track the angle and torque variation curve of real vehicle steering experiment of the skilled driver, and the effectiveness of the intelligent vehicle human-simulated steering control algorithm based on HSIC proposed in this article is verified.
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22

Potashov, I. S. y A. I. Bokarev. "Hardware in the loop simulation technology evaluation method for power steering systems". Journal of Physics: Conference Series 2061, n.º 1 (1 de octubre de 2021): 012137. http://dx.doi.org/10.1088/1742-6596/2061/1/012137.

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Abstract In the paper, the method of measuring and assessing of steering systems with the help of test benches with HILS technology implementation is justified in part of the adaptive algorithms of the regulation of the assistant steering torque. In the article, overall principal of creating virtual – physical system using as a physical part the rack and pinion steering system with electromechanical assistant is described. Interaction of the physical and virtual parts and fields of usage are described. Development, calibration and tweaking of the newly designed ECU and adaptive algorithms suppose a lot of testing. Time consumption and difficultness can be reduced only by the way of carrying out bench tests with usage of HILS technology.
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23

Wang, Zhaojian y Hamid Reza Karimi. "Experimental Study on Antivibration Control of Electrical Power Steering Systems". Journal of Applied Mathematics 2014 (2014): 1–7. http://dx.doi.org/10.1155/2014/450427.

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We focus on the antivibration controller design problem for electrical power steering (EPS) systems. The EPS system has significant advantages over the traditional hydraulic steering system. However, the improper motor controller design would lead to the steering wheel vibration. Therefore, it is necessary to investigate the antivibration control strategy. For the implementation study, we also present the motor driver design and the software design which is used to monitor the sensors and the control signal. Based on the investigation on the regular assistant algorithm, we summarize the difficulties and problems encountered by the regular algorithm. After that, in order to improve the performance of antivibration and the human-like steering feeling, we propose a new assistant strategy for the EPS. The experiment results of the bench test illustrate the effectiveness and flexibility of the proposed control strategy. Compared with the regular controller, the proposed antivibration control reduces the vibration of the steering wheel a lot.
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24

Alfatti, F., C. Annicchiarico y R. Capitani. "Vehicle stability controller HiL validation on static simulator". IOP Conference Series: Materials Science and Engineering 1214, n.º 1 (1 de enero de 2022): 012044. http://dx.doi.org/10.1088/1757-899x/1214/1/012044.

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Abstract In the automotive world, Hardware in the Loop (HiL) methodologies are used to speed up the design and calibration process of the various mechatronics components installed on the vehicle. Installing production parts on advanced driving simulator enables the performance assessment in realistic scenarios, including a test driver earlier in the design process. The scope of this work is to evaluate the effect of ABS and ESC system, replicating their influence on the steering wheel. A brake by wire production system has been installed on a static simulator, equipped with a EPSiL steering bench, capable of accurately replicate tie-rod forces on a production steering unit. Full brake, sine steer maneuvers have been carried out both on real vehicle and on virtual environment. The system showed its capabilities of replicating the same functionalities of the real vehicle, extending the static simulator potentialities to support the activities on calibration and test of vehicle systems.
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25

Qu, Jiwei, Hongji Li, Zhe Zhang, Xiaobo Xi, Ruihong Zhang y Kangquan Guo. "Performance Analysis and Optimization for Steering Motion Mode Switching of an Agricultural Four-Wheel-Steering Mobile Robot". Agronomy 12, n.º 11 (27 de octubre de 2022): 2655. http://dx.doi.org/10.3390/agronomy12112655.

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This study focuses on a wheeled mobile robot used for detection, weeding and information monitoring in agriculture. However, it is difficult to reach satisfactory motion mode switching (MMS) performance. This paper aimed at exploring the optimal control parameters guaranteeing smooth MMS of four-wheel steering. Single factor tests were first conducted using a test-bench. A binary quadratic general rotation combination test was designed to obtain the optimal parameters. An entropy weight method was introduced to construct the four indexes as a comprehensive index. The optimal combination of the parameters was obtained, based on the regression equation. The results showed that the two factors and their interaction had a significant impact on the comprehensive index (p < 0.05). The best combinations of the speed of the stepper motor and locking voltage were 56 r·min−1 and 3.96 V for 15° steering, 72 r·min−1 and 4.35 V for 30°, and 107 r·min−1 and 5.50 V for 45°, respectively. A verification test was performed using the prototype of the robot chassis. The results demonstrated that the MMS process was smooth and stable, and the proposed method was effective. This study is a beneficial exploration of the experimental method concerning wheeled robots.
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26

Wang, Jian, Shifu Liu, Jian Wu, Jun Yang y Aijuan Li. "Research on Model Predictive Control Method for Vehicle Lateral Stability Based on Hardware-in-the-Loop Test". Mathematical Problems in Engineering 2020 (24 de julio de 2020): 1–11. http://dx.doi.org/10.1155/2020/4712327.

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With the rapid development of the vehicle chassis control and autonomous driving technology, it is more and more urgent to realize the active steering technology of autonomous driving stability control. Under emergency conditions, the adhesion constraints, the model uncertainty, and the strong nonlinearity of vehicle bring great challenges to active steering control. In this paper, a model predictive control method for an active steering system based on a nonlinear vehicle model is proposed to solve the problems of adhesion constraint, model uncertainty, and external disturbance in the active steering system. Based on the real-time measurement of vehicle state, a new optimization method is proposed in this paper, which has good performance in dealing with the uncertainty and nonlinearity of the model. The control method transforms the constraint problem into quadratic programming and nonlinear programming. In order to ensure the control accuracy when the vehicle enters the nonlinear area, the control model is built with the combination of the nonlinear tire model and the 2DOF model. The control model is built based on Simulink, and the effectiveness of the controller is the verified joint simulation of Simulink and CarSim. The hardware-in-the-loop (HIL) test bench based on LabVIEW RT is built and tested in order to verify the feasibility and real effect of the controller. Simulation and HIL test results demonstrate that, compared with PID controller, the model predictive controller can accomplish the driving task well and improve the vehicle handling stability.
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27

Xi, JunQiang, JianMin Meng y HuiYan Chen. "Research on Shifting Control Method of Positive Independent Mechanical Split Path Transmission for the Starting Gear". Mathematical Problems in Engineering 2013 (2013): 1–9. http://dx.doi.org/10.1155/2013/191574.

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To realize a smooth and quick shift of the positive independent mechanical split path transmission (PIMSPT) equipped with automatic shifting control system (ASCS), the research on the feasibility of improving shift quality by dynamic and cooperative controlling engine, steering clutches, and brakes has been conducted. The shifting control method suited to starting gear of PIMSPT has been proposed. The control method is based on control parameters, such as the driving shaft speed and its derivative. The control laws of steering clutches and brakes are presented during each gear and stage of shifting. Bench and road test results show that the proposed shifting control method can not only shorten the shift time, but also decrease the jerk of shifting effectively.
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28

Lee, Junho y Hyuk-Jun Chang. "Multi-parametric model predictive control for autonomous steering using an electric power steering system". Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering 233, n.º 13 (22 de enero de 2019): 3391–402. http://dx.doi.org/10.1177/0954407018824773.

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Electric power steering systems have been used to generate assist torque for driver comfort. This study makes use of the functionality of electric power steering systems for autonomous steering control without driver torque. A column-type electric power steering test bench, equipped with a brushless DC motor as an assist motor, and the Infineon TriCore AURIX TC 277 microcontroller was used in this study. Multi-parametric model predictive control is based on a model predictive control–based approach that employs a multi-parametric quadratic programming technique. This technique allows the reduction of the huge computational burden resulting from the online optimization in model predictive control. The proposed controller obtains an optimal input based on multi-parametric quadratic programming at each sampling time. The weighting matrix definition, which is the main task when designing the proposed controller, was analyzed. The experimental results of the step response of the steering wheel angle verified the tracking ability of the proposed controller for different ranges of the prediction horizon. Since the computational loads are directly related to functional safety, the results of this study support the use of the multi-parametric model predictive control scheme as an effective control method for autonomous steering control.
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29

Parczewski, Krzysztof y Henryk Wnęk. "Influence of Clearance on the Rocker Arm Pin on the Steerability and Stability of the Vehicle Motion". Energies 14, n.º 22 (22 de noviembre de 2021): 7827. http://dx.doi.org/10.3390/en14227827.

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The article presents an analysis of the impact of a malfunction resulting from excessive clearance on the rocker arm pin of the front suspension on the vehicle’s steerability. The first part of the article presents an analysis of the influence of the clearance on the rocker arm pin on the geometry of the suspension and steering system. The occurrence of forces acting on the rocker arm pin in various phases of the vehicle motion was analyzed. To assess the vehicle’s steering, the vehicle’s response time to sudden steering wheel movement was used. The vehicle’s response time to sudden movement of the steering wheel was used to assess the vehicle’s steerability. The second part presents the results of bench tests and traction tests of a vehicle equipped with a specially made measuring rocker arm with the possibility of simulating a clearance. The tests were carried out on a class B passenger car in selected road tests. The results of measurements obtained for the roadworthy vehicle and the vehicle with the rocker arm with clearance were compared. The influence of the clearance on the rocker arm pin on the change of vehicle steerability in steady and dynamically changing conditions was analyzed. The test results show the effect of clearance on vehicle steering and on the vehicle steerability. The study tried to determine to what extent the clearance on the rocker arm affects the vehicle’s steerability and thus the safety in road traffic.
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30

Nguyen, Van, Xuexun Guo, Chengcai Zhang y Xuan Tran. "Parameter Estimation, Robust Controller Design and Performance Analysis for an Electric Power Steering System". Algorithms 12, n.º 3 (5 de marzo de 2019): 57. http://dx.doi.org/10.3390/a12030057.

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This paper presents a parameter estimation, robust controller design and performance analysis for an electric power steering (EPS) system. The parametrical analysis includes the EPS parameters and disturbances, such as the assist motor parameters, sensor-measurement noise, and random road factors, allowing the EPS stability to be extensively investigated. Based on the loop-shaping technique, the system controller is designed to increase the EPS stability and performance. The loop-shaping procedure is proposed to minimize the influence of system disturbances on the system outputs. The simplified refined instrumental variable (SRIV) algorithm, least squares state variable filter (LSSVF) algorithm and instrumental variable state variable filter (IVSVF) algorithm are applied to reduce the model mismatching between the theoretical EPS models and the real EPS model, as the EPS parameters can be accurately identified based on the experimental EPS data. The performance of the proposed method is thus compared to that of the proportional-integral-derivative (PID) test bench results for the EPS system. The experimental results demonstrated that the proposed loop-shaping controller provides good tracking performance while ensuring the stability of the EPS system.
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31

Alcázar Vargas, Manuel, Javier Pérez Fernández, Ignacio Sánchez Andrades, Juan A. Cabrera Carrillo y Juan J. Castillo Aguilar. "Modeling of the Influence of Operational Parameters on Tire Lateral Dynamics". Sensors 22, n.º 17 (24 de agosto de 2022): 6380. http://dx.doi.org/10.3390/s22176380.

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Tires play a critical role in vehicle safety. Proper modeling of tire–road interaction is essential for optimal performance of active safety systems. This work studies the influence of temperature, longitudinal vehicle speed, steering frequency, vertical load, and inflation pressure on lateral tire dynamics. To this end, a tire test bench that allows the accurate control of these parameters and the measurement of the variables of interest was used. The obtained results made it possible to propose a simple model that allowed the determination of relaxation length as a function of tire vertical load and vehicle linear speed, and the determination of a representative tread temperature. Additionally, a model has been proposed to determine the lateral friction coefficient from the aforementioned temperature. Finally, results also showed that some variables had little influence on the parameters that characterize lateral dynamics.
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32

He, Yi, Shao Jie Du y Guang Wei Cheng. "Modeling and Simulation of Disc Brake Resistance Load in Low Speed Condition". Advanced Materials Research 548 (julio de 2012): 691–95. http://dx.doi.org/10.4028/www.scientific.net/amr.548.691.

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In this paper, the load simulation of tracked vehicle disc brake in low speed is discussed. The simulation of the resistance load and the control of the disc brake is researched when the resistance load loading on the test bench The simulation results show that, by controlling the input voltage of the disc brake electrohydraulic control portion, the disc brake braking torque can be controlled, the driving resistance simulation of crawler vehicle is realized. At the same time, the simulation has high accuracy, fast response speed, and has better dynamic characteristic. When the tracked vehicle is at the process of start, acceleration, deceleration, braking, steering , the engine and the transmission system mainly are in an unstable vehicle system dynamic, the load is dynamic load must be given. In order to investigate the performance of tracked vehicle HMCVT, a dynamic load [1] in the test system to simulate the loading process of tracked vehicle. Eddy current dynamometer can simulate the load [2,3] during a vehicle running a higher speed , the driving load in low speed ( including zero speed ) is simulated by disc brakes .
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33

Hummel, Jan, Dietmar Göhlich y Roland Schmehl. "Automatic measurement and characterization of the dynamic properties of tethered membrane wings". Wind Energy Science 4, n.º 1 (24 de enero de 2019): 41–55. http://dx.doi.org/10.5194/wes-4-41-2019.

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Abstract. We have developed a tow test setup for the reproducible measurement of the dynamic properties of different types of tethered membrane wings. The test procedure is based on repeatable automated maneuvers with the entire kite system under realistic conditions. By measuring line forces and line angles, we determine the aerodynamic coefficients and lift-to-drag ratio as functions of the length ratio between power and steering lines. This nondimensional parameter characterizes the angle of attack of the wing and is varied automatically by the control unit on the towed test bench. During each towing run, several test cycles are executed such that mean values can be determined and errors can be minimized. We can conclude from this study that an objective measurement of specific dynamic properties of highly flexible membrane wings is feasible. The presented tow test method is suitable for quantitatively assessing and comparing different wing designs. The method represents an essential milestone for the development and characterization of tethered membrane wings as well as for the validation and improvement of simulation models. On the basis of this work, more complex maneuvers and a full degree of automation can be implemented in subsequent work. It can also be used for aerodynamic parameter identification.
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34

Kralev, Jordan, Alexander Mitov y Tsonyo Slavov. "Robust μ-Controller for Hydraulic Spool Valve, Pilot Operated with Switching Micro Valves". Energies 14, n.º 16 (7 de agosto de 2021): 4817. http://dx.doi.org/10.3390/en14164817.

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Hydraulic spool valve, pilot operated with bi-state switching micro valves is a low-cost alternative to the conventional proportional and high-response valves. However, high-frequency switching causes variations in the control flow which limits achievable spool tracking error. This paper presents the design of a robust μ-controller for the spool position reference tracking synthesized with D-K iterative procedure. Furthermore, in order to reduce wind-up effects in the closed-loop, the μ-controller is decomposed to a canonical observer and state feedback components which allows explicit introduction of the saturated control signal in the controller equations. The uncertainty model required for the μ-synthesis is inferred from the nonlinear hydraulic model by identification of a Box–Jenkins model set characterized by its parameter covariance matrix. The regulator is implemented in a 32-bit programmable logic controller (PLC) and its performance is experimentally verified on a laboratory test bench of electro-hydraulic power steering system.
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35

Pokusaev, Mikhail Nikolaevich, Sergey Vladimirovich Vinogradov, Konstantin Olegovich Sibryaev y Maxim Michailovich Gorbachev. "Experience in creating laboratory of ship auxiliary mechanisms for training marine engineers in Astrakhan State Technical University". Vestnik of Astrakhan State Technical University. Series: Marine engineering and technologies 2020, n.º 1 (17 de febrero de 2020): 22–30. http://dx.doi.org/10.24143/2073-1574-2020-1-22-30.

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The article focuses on the functional capabilities, technical characteristics and bench composition of the laboratory of ship auxiliary mechanisms, which was created at the Department of Operation of Water Transport at the Astrakhan State Technical University (ASTU) for training marine engineers. The laboratory provides the students with professional competencies in such aspects of the mechanical engineer’s operation as ship turbo machines, ship auxiliary mechanisms and systems, automatic control systems, operation of ship boiler rooms and steam generating plants, etc. There have been presented the pictures of laboratory test benches for testing the P01 ship steering machine and ЯШ-2Р anchor mooring pin, РCC-6.3/10 ship fan, TKР-700 turbo compressor, gear fuel pump Ш5-25-3Б, prototypes of TГ-16M gas turbine generator and ГTД-16M gas turbine engine. Using the laboratory test benches for auxiliary mechanisms and systems helps to both consolidate the theory and gain the new practical knowledge on the design, operation principles and testing skills of the ship steering machine, deck equipment, ventilation systems gear pumps, turbochargers, etc. It has been stated that all the laboratory facilities, except for the GD-IN model (facilities for studying the pump operation and constructing pressure-flow characteristics), were developed and assembled by the students and teachers on the basis of the real ship equipment. The laboratory tests are based on regulatory and technical documents: the rules of the Russian Maritime Register of Shipping, machine operating instructions, relevant GOSTs, guidance and regulatory documents. Building the laboratory of auxiliary mechanisms and systems and optimizing the time for practical and laboratory training of ship mechanical engineers at ASTU were carried out in accordance with the requirements of the new educational standard GEF 3++ of higher education and the International Convention on Training and Certification of Sailors and Watchkeeping (The Manila amendments to the STCW Convention and Code).
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36

Sun, Lin, Geng, Li y Jiang. "Research on Switching Interconnection Modes and Game Control of Interconnected Air Suspension". Energies 12, n.º 17 (21 de agosto de 2019): 3218. http://dx.doi.org/10.3390/en12173218.

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To solve the contradiction between handling stability and ride comfort of vehicles with interconnected air suspension system (IASS) and reduce the energy consumption of air suspension with adjustable spring stiffness, a coordinated control for dynamic performance was designed based on the logic of switching interconnection modes and game control for the damper. The control system consists of a switching controller for air suspension interconnection modes and a distribution controller for the damping force. The switching controller determines the optimal air suspension interconnection mode by calculating the vehicle dynamic performance index in real-time. The distribution controller achieves a distribution for optimal damping force based on an infinite time differential game. veDYNA software that is a vehicle dynamics analysis software based on MATLAB/Simulink was used to verify the algorithm, and the accuracy was verified by a bench test. Finally, the results show this coordinated system can significantly improve the ride comfort and restrain the pitching motion. Compared with traditional suspension, the vertical acceleration decreases by 18.32% and the dynamic stroke decreases by more than 10% under the straight condition; the vertical acceleration decreases by 12.24% and the roll angle decreases by 1.26% under the steering condition.
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37

Herrmann, Michael, Rainer Jöst, Florian Kehl, Ali Özkan, Simon Pless y Frank Gauterin. "Importance of Vehicle Body Elements and Rear Axle Elements for Describing Road Booming Noise". Vehicles 2, n.º 4 (25 de noviembre de 2020): 589–603. http://dx.doi.org/10.3390/vehicles2040034.

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For investigating influences of vehicle components on the acoustic comfort at low frequencies, e.g., the booming noise behavior of a vehicle, building a whole car simulation model is useful. To reduce the model’s complexity and to save resources in the validation process, we first identify relevant components before building the model. Based on previous studies, we focus on the vehicle’s body and the rear axle. In this paper, we analyze which axle and body elements are crucial for describing road booming noise. For this purpose, we use impact measurements to examine noise transfer functions of the body and a vibro-acoustical modal analysis to identify coupled modes between the body’s structure and the interior cavity. For investigating relevant force paths from the rear axle to the body, we used a chassis test bench. We identify the main transmission paths of road booming noise and highlight which axle and body components have an influence on them. Mainly the rear axle in its upright direction in combination with a rigid body movement of the rear tailgate coupled with the first longitudinal mode of the airborne cavity causes road booming noise. Furthermore, the rear axle steering, the active roll stabilization and the trim elements of the vehicle’s body are essential to describe road booming noise. The results can be used to set priorities in the validation of individual axle and body components for future simulation models. We found that the ventilation openings, the front seats, the headliner, and the cockpit of a vehicle have little influence on its noise transfer functions from the rear axle connection points to the driver’s ear between 20 and 60 Hz.
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38

Вдовин, Д. С., И. В. Чичекин y Т. Д. Поздняков. "Virtual test bench for determining loads affecting an automotive steering system". Engineering Journal: Science and Innovation, n.º 69 (mayo de 2017). http://dx.doi.org/10.18698/2308-6033-2017-8-1642.

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39

Dai, Changhua, Guoying Chen, Changfu Zong y Buyang Zhang. "Precise Compound Control of Loading Force for Electric Load Simulator of Electric Power Steering Test Bench". Chinese Journal of Mechanical Engineering 35, n.º 1 (12 de febrero de 2022). http://dx.doi.org/10.1186/s10033-021-00670-4.

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AbstractElectric load simulator (ELS) systems are employed for electric power steering (EPS) test benches to load rack force by precise control. Precise ELS control is strongly influenced by nonlinear factors. When the steering motor rapidly rotates, extra force is directly superimposed on the original static loading error, which becomes one of the main sources of the final error. It is key to achieve ELS precise loading control for the entire EPS test bench. Therefore, a three-part compound control algorithm is proposed to improve the loading accuracy. First, a fuzzy proportional–integral plus feedforward controller with force feedback is presented. Second, a friction compensation algorithm is established to reduce the influence of friction. Then, the relationships between each quantity and the extra force are analyzed when the steering motor rapidly rotates, and a net torque feedforward compensation algorithm is proposed to eliminate the extra force. The compound control algorithm was verified through simulations and experiments. The results show that the tracking performance of the compound control algorithm satisfies the demands of engineering practice, and the extra force in the ELS system can be suppressed by the net torque corresponding to the actuator’s acceleration.
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40

Zhang, Zhizhong, Heng Du, Shumei Chen, Yuzheng Li y Han Wang. "A novel electro-hydraulic servo steering system for Ackermann steering of heavy multi-axle vehicle". Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, 16 de diciembre de 2021, 095440702110633. http://dx.doi.org/10.1177/09544070211063302.

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Ackermann steering is important for the steering performance of heavy multi-axle vehicle. When Ackermann steering condition is not satisfied, it will lead to abnormal tire wear. Traditional trapezoidal mechanism of heavy multi-axle vehicle is a single degree of freedom (DOF) mechanism, which is difficult to completely realize Ackermann steering. In this paper, a new two DOF electro-hydraulic servo steering system (TDEHSSS) by using a variable length tie rod is proposed for solving the issue. First, a complex nonlinear dynamic model of TDEHSSS is established. This model includes the two DOF mechanical model based on a Lagrange equation, the valve-controlled double steering power cylinders model and the valve-controlled tie rod cylinder model. Then, a simulation model is built through MATLAB/Simulink and the simulation results show that TDEHSSS can realize the proposed requirement. At last, a test bench is founded to verify model. It is indicated that the simulation and experimental curves are consistent, showing that mathematical model is in accordance with the experimental system. This research is valuable for analyzing TDEHSSS, designing advanced controllers, and finally realizing Ackermann steering for heavy multi-axle vehicles.
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41

Liu, Qihui, Heng Du, Xiaowei Zhu, Tianyu Ren y Kun Guo. "Research on tyre mechanics model for multi-axle coordinated steering of heavy vehicles". Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, 16 de noviembre de 2022, 095440702211341. http://dx.doi.org/10.1177/09544070221134133.

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Compared with passenger cars, heavy vehicles have larger loads, longer bodies, more steering modes, and are more likely to cause improper steering angle relationships among the wheels, resulting in uncoordinated steering. This uncoordinated steering makes the tyres roll and drag, which results in abnormal lateral and longitudinal slips, changing the lateral and longitudinal mechanical characteristics of tyres and leading to low path tracking accuracy and poor steering performance of vehicles. Therefore, a tyre model containing lateral and longitudinal mechanical characteristics under heavy load is the key to solving the problem of uncoordinated steering in heavy vehicles. Firstly, with the physical tyre model, the lateral and longitudinal slip is described as carcass deflections. With the carcass deflections and contact pressure distribution of heavy load, the tyre forces under uncoordinated steering conditions are derived. Then, the tyre imprint parameters are obtained with a test bench, and a two-dimensional contact pressure distribution model is established to reproduce the contact pressure distribution of tyre under heavy loads and dynamic slips. The comparison results with Magic Formula (MF) and Trucksim are generally consistent, proving the effectiveness of the model. Finally, a lateral and longitudinal tyre force distribution control of vehicles is carried out based on the established model. The results of the Trucksim-Simulink co-simulation show that the path tracking accuracy of vehicles is significantly improved, which demonstrates that the tyre model incorporating lateral and longitudinal mechanical characteristics under heavy loads can provide a theoretical basis for solving the problem of uncoordinated steering in heavy vehicles.
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42

Shi, Qin, Ziang Xu, Yujiang Wei, Mingwei Wang, Xinxin Zheng y Lin He. "Electric motor steer-by-wire angle tracking by proportional differential sliding mode controller with disturbance observer". Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, 1 de septiembre de 2022, 095440702211173. http://dx.doi.org/10.1177/09544070221117322.

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This paper focuses on the front wheel angle tracking control problem of the steer-by-wire system subject to unmodeled dynamics, uncertain parameters, external disturbances and measurement noises. Considering the measurement uncertainties of front wheel angle and angular velocity, a new steering dynamics model with matched and unmatched disturbances is built for control design. An unmatched disturbance observer is designed to attenuate the effects of unmatched measurement uncertainties and further improve the angle tracking precision of steady-state. A matched disturbance observer is developed to cancel the effects of matched disturbances, and to alleviate the chattering of sliding mode control. Based on the outputs of these two disturbance observers and the sliding mode controller (SMC), a proportional differential sliding mode control (pdSMC) approach is developed by a new sliding manifold for angle tracking of the steer-by-wire system. The developed approach has been downloaded into a steering control unit, and tested in real-world conditions using vehicle test bench to fully realize electric motor steering by wire in engineering practice. Experimental results show that compared with the SMC controller, the pdSMC controller reduces the mean absolute error of the front wheel angle by 52% and 58.9% in the steering tests of step response and slalom path, respectively.
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43

Shi, Guobiao, Pengfei Qiao, Donggang Sang, Shuai Wang y Minghao Song. "Synchronous and fault-tolerance control for dual-motor steer-by-wire system of commercial vehicle". Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, 21 de febrero de 2023, 095440702311549. http://dx.doi.org/10.1177/09544070231154961.

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In order to meet the high safety requirement of high-level automatic steering mechanism for commercial vehicle, a kind of steer-by-wire (SBW) system with redundant motors is studied in this paper, and the structure principle and control strategy of the system are studied. Commercial vehicles have the characteristics of large steering resistance moment, which is accompanied by impact and vibration during steering, so the synchronous control of dual motors is the key and difficult problem. Based on the circulating ball steering gear for commercial vehicle, dual-motor synchronous control architecture is designed and the dual-motor global-fast-terminal-sliding-mode (nonsingular-GFTSM) synchronous control is formulated. Compared with the sliding-mode control, the simulation results show that the dual-motor actuator based on nonsingular-GFTSM can better realize the synchronous operation in angle, speed and torque. In addition, a real-time motor fault-diagnosis method based on sliding mode observer and a fault-tolerant control strategy based on smooth switching system are designed, which can achieve fast fault-isolation and smooth torque switching in case of actuator failure in dual-motor system. A Hardware-in-the-Loop (HIL) test bench is built to further verify the effectiveness of the synchronous and fault-tolerance control strategy for dual motors.
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44

Li, Mingyue, Zhenhai Gao, Fei Gao y Tianyao Zhang. "Research on comfortable driving posture of car drivers based on muscle biomechanics". Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, 9 de noviembre de 2021, 095440702110552. http://dx.doi.org/10.1177/09544070211055281.

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This paper aims to solve the problem of optimal design on a comfortable human-machine arrangement of car drivers with different physical signs under dynamic manipulation. Based on the biomechanical characteristic of human skeletal muscle and Hill muscle mechanics model, this paper constructs the human seat musculoskeletal model of 5th, 50th, and 95th percentile physical signs of Chinese car drivers under dynamic manipulation. The six-degree-of-freedom flexible test bench was set up and the center composite method was used to optimize the number of experiments. The consistency and relevance analysis of the actual measurement and dynamic manipulation simulation was carried out to comprehensively analyze the human-machine arrangement parameters such as vehicle seat, pedal, and steering wheel, so as to realize the optimization design of the hard point size of comfortable driving posture and verify the rationality and applicability of the test results through the vehicle road test.
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45

Neumann, Dominic, Mustaba Ahmadi, Mario Weinberger y Dieter Schramm. "Identification of Characteristic Tire Parameters for the Virtual Steering System Design". Tire Science and Technology, 24 de agosto de 2022. http://dx.doi.org/10.2346/tire.22.22002.

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ABSTRACT The virtual design of steering systems requires suitable premises for predicting realistic steering rack forces. This includes the proper tire used for the parking maneuver. It is important to select the tire from a portfolio that generates the highest rack forces at the vehicle, so that the electro-mechanical dimensioning of the steering system can be safeguarded for all tires of a vehicle. To avoid time-consuming and expensive full vehicle measurements, drilling torques of tires are measured on a Flat-Trac to determine the so-called worst-case tire. However, the determined drilling torques do not correlate with the measured rack forces. This work therefore investigates the suitability of a Kinematics & Compliance test rig converted to a tire test rig. First, it is investigated whether the wheel movements from the parking maneuver can be decomposed into their individual elements on the test bench. In addition, reproducibility studies are carried out and three different methods for determining the aligning torque under camber are presented. Furthermore, measurements for static and dynamic friction values, as well as stiffnesses and the contact patch, are integrated into the new measurement procedure. It becomes apparent that temperature and wear level of the tire play a major role in the reproducibility of the measurements. If the measurement procedure described in this paper is followed exactly, the scatter of the drilling torque can be reduced by up to 24% compared to the old procedure. For the dynamic and the static friction values, the scatter is reduced by about 17% and 22%, respectively. Stiffness scatter can be reduced by up to 16%. With the new measurement procedure, the worst-case tire can be reliably determined. The drilling torques correlate with the rack forces and the additional tire characteristics permit finer resolution. After evaluation and interpretation, recommendations for future developments are discussed.
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46

Zou, Songchun, Zhongkai Luan, Wanzhong Zhao y Chunyan Wang. "Personalized design strategy of vehicle steer-by-wire characteristics considering driving style". Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 31 de agosto de 2022, 095440622211219. http://dx.doi.org/10.1177/09544062221121988.

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In order to meet the needs of drivers with different driving styles and improve driving comfort and safety, a personalized design strategy of vehicle steer-by-wire (SBW) characteristics considering driving style is proposed in this paper. Firstly, based on the driver hardware-in-the-loop test bench, the driver’s driving characteristic data is collected under double lane change condition. Then, the K-means clustering algorithm is adopted to classify the driver’s driving style into cautious type, general type and radical type. Based on this, combined with the clustering results and grid search method, the support vector machine algorithm is used to construct the driving style identification model. Finally, considering the driving style, vehicle stability and steering wheel alignment characteristics, the driver personalized variable steering ratio strategy is designed based on the ideal transmission characteristics, and the personalized SBW performance is analyzed under step condition and sinusoidal condition. The results indicate that the proposed personalized design strategy of vehicle SBW characteristics considering driving style can not only accurately identify driving style, but also meet the needs of drivers with different driving styles for vehicle response.
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47

Shi, Zhaoyao, Pan Zhang, Huijun Yue, Jinyu Lin y Hongyu Ding. "An accurate identification method of the position of a broken tooth in the joint steering gear of service robot". Measurement and Control, 22 de septiembre de 2022, 002029402210752. http://dx.doi.org/10.1177/00202940221075286.

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The gearbox of the small joint steering gear of a service robot is characterized by a compact structure, a large reduction ratio, and a special manufacturing and assembling technology. However, when a tooth in the gear is broken, the gear transmission can be still maintained, so it is difficult to identify the broken tooth accurately. In order to provide a theoretical basis for the identification of a broken tooth in the study, the influence of gear tooth fracture on the time-varying meshing stiffness in the transmission process was firstly analyzed theoretically and its influencing mechanisms on the time domain and frequency domain characteristics of transmission error (TE) were further analyzed. Then, the TE measurement test bench of the joint steering gear was designed. The signal-to-noise ratios and root-mean-square errors of the TE data processed by wavelet noise reduction, Kalman filtering and combined wavelet-Kalman filtering algorithms were compared and analyzed. The analysis results showed that the joint algorithm had the best performance. Next, the TE data measured under multiple working conditions were processed with the joint filtering algorithm to obtain the time domain results and then the frequency domain results were obtained by Fourier transform. Whether there was a broken tooth in the joint steering gear could be judged based on the difference between the maximum and minimum values of the TE in the time domain. The broken-tooth gear shaft could be positioned based on the frequency of TE mutation waveform. Furthermore, combined with the frequency domain, the accurate identification of the position of the broken gear can be realized. Finally, the accurate positioning method of broken teeth was applied in the product inspection process. Broken teeth were successfully identified and located, thus proving the effectiveness of the identification method.
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