In this study, application of differential braking strategy to remove the oscillatory instability of an articulated steer vehicle is presented. First, a linearized model of the vehicle is described that is used to represent the equations of motion in the state-space form. In this model, the front and rear parts of the vehicle are joined together by an articulation joint in the middle. The compressibility effects in the hydraulic cylinders are shown by a torsional spring (KR) at the articulation joint. In addition, a torsional damper (CR) at the articulation joint is also indicated to represent the friction in the cylinders and joint. The vehicle is permanent four-wheel drive with rear and front differentials. Due to the yaw and lateral motions of the front and rear parts of the vehicle, a lateral slip angle will be produced at the four wheels during the disturbed motion. For simplicity, the resultant lateral force and aligning moment at each axle is assumed to act at the center of that axle. This model is utilized for designing a sliding mode controller to adjust the differential braking on the rear axle to stabilize the vehicle during the snaking. The performance of the resulting active control system is evaluated in different driving conditions by using the linearized model. Finally, the control system is incorporated into a virtual prototype of the vehicle and its operation is examined. The results from the linear model analysis and simulations in ADAMS are reasonably consistent.
An active control device based on differential braking for articulated steer vehicles
2006
8 Seiten, 9 Bilder, 7 Quellen
Conference paper
English
An Active Control Device Based on Differential Braking for Articulated Steer Vehicles
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