In this paper the replacement of the driver of the wrecked vehicle by mechatronic means is discussed. The coupling of two vehicles by a rigid tow bar needs special attention in simulation studies and experiments. Mathematical vehicle models of different complexity are used in this research, being derived using a multibody system formalism. The dynamics of steering and driver are considered. The lateral vehicle control is based on a hierarchical strategy on two levels, a superior vehicle control and a subordinated steering control. For the vehicle control, two different concepts are studied, both being based on physically clear ideas. Stability and path tracking performance at different velocities are used as criteria for the control quality. Experimental research is carried out using two passenger cars which are connected by a specially designed rigid tow bar. The following vehicle is equipped with a steering actuator replacing the driver, and a data acquisition and control system. Road tests are performed with the two research vehicles to verify the simulation results for low speed maneuvers.
Mechatronic wrecking of vehicles
Mechatronisches Abschleppen von führerlosen Fahrzeugen
1995
6 Seiten, 17 Bilder, 1 Tabelle, 20 Quellen
Conference paper
English
Fahrzeuglenkung , fahrerloses Transportieren , Mechatronik , mathematisches Modell , Schleppvorrichtung , Simulationsmodell , Forschungsprojekt , Regelungstheorie , Steuerungssystem , Strategie , Richtungsstabilität , Wegplansteuerung , Regelgenauigkeit , Stellantrieb , Datenerfassung , experimentelle Untersuchung
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