Dynamic Modelling and Stability Controller Development for Articulated Steer Vehicles
Notice bibliographique
Résumé
In this study, various stability control systems are developed to remove the lateral instability of a conventional articulated steer vehicle (ASV) during the oscillatory yaw motion or “snaking mode”. First, to identify the nature of the instability, some analyses are performed using several simplified models. These investigations are mainly focused on analyzing the effects of forward speed and of two main subsystems of the vehicle, the steering system and tires, on the stability. The basic insights into the stability behavior of the vehicle obtained from the stability analyses of the simplified models are verified by conducting some simulations with a virtual prototype of the vehicle in ADAMS. To determine the most critical operating condition with regard to the lateral stability and to identify the effects of vehicle parameters on the stability, various studies are performed by introducing some modifications to the simplified models. Based on these studies, the disturbed straight-line on-highway motion with constant forward speed is recognized as the most critical driving condition. Also, the examinations show that when the vehicle is traveling with differentials locked, the vehicle is less prone to the instability. The examinations show that when the vehicle is carrying a rear-mounted load having interaction with ground, the instability may happen if the vehicle moves on a relatively good off-road surface. Again, the results gained from the analyses related to the effects of the vehicle parameters and operating conditions on the stability are verified using simulations in ADAMS by making some changes in the virtual prototype for any case. To stabilize the vehicle during its most critical driving condition, some studies are directed to indicate the shortcomings of passive methods. Alternative solutions, including design of different types of stability control systems, are proposed to generate a stabilizing yaw moment. The proposed solutions include an active steering system with a classical controller, an active torque vectoring device with a robust full state feedback controller, and a differential braking system with a robust variable structure controller. The robust controllers are designed by using simplified models, which are also used to evaluate the ability to deal with the uncertainties of the vehicle parameters and its variable operating conditions. These controllers are also incorporated into the virtual prototype, and their capabilities to stabilize the vehicle in different operating conditions and while traveling on different surfaces during the snaking mode are shown.
Récupéré en direct depuis OpenAlex et désinversé. Les résumés ne sont pas conservés dans cette base de données : les index inversés représentent 8,6 Go des 9,3 Go de texte de la base, et le serveur dispose de 13 Go libres.
Comment cette classification a été obtenuedéplier
Prédiction machine sur la base complète
Imitation des enseignantsNi prévalence calibrée, ni vérité terrain. Validation humaine à venir. Le volet Gemma est une étiquette directe du modèle pour chaque travail de la base, lue sur la notice réduite au titre. Le volet Codex est un classifieur appris des 10 348 étiquettes directes de Codex et calibré sur les taux pondérés de l'échantillon; les champs sans appui suffisant ne portent aucun appel Codex. Le mode candidate est l'union des deux volets; le consensus est leur intersection. Ces sorties portent le statut machine_predicted_unvalidated et ne sont pas des étiquettes humaines.
Scores du classifieur distillé par catégorie (deux têtes)
| Catégorie | Codex | Gemma |
|---|---|---|
| Métarecherche | 0,000 | 0,001 |
| Méta-épidémiologie (sens strict) | 0,001 | 0,000 |
| Méta-épidémiologie (sens large) | 0,001 | 0,001 |
| Bibliométrie | 0,000 | 0,000 |
| Études des sciences et des technologies | 0,000 | 0,000 |
| Communication savante | 0,001 | 0,001 |
| Science ouverte | 0,001 | 0,000 |
| Intégrité de la recherche | 0,001 | 0,001 |
| Charge utile insuffisante (le modèle a refusé de juger) | 0,002 | 0,000 |
Scores machine (provisoires)
Les deux têtes enseignantes du modèle étudiant, lues sur ce travail. Un score ordonne la base pour la relecture; il n'affirme jamais une catégorie, et le statut de validation accompagne chaque rangée tel quel.
Scores de référence d'un modèle non mature (critères de maturité non atteints, 7 itérations). Un score ordonne; il n'affirme jamais une catégorie.
score_only:v0-immature-baseline · tel quel depuis la passe de notation : score_only signifie que le nombre peut ordonner les travaux, et qu'aucune étiquette de catégorie n'en découleClassification
machine, non validéePrédiction automatique; un appel candidat d’une seule source (Gemma direct ou Codex distillé), pas un consensus.
Le détail, modèle par modèle et score par score, se trouve en fin de page sous « Comment cette classification a été obtenue ».