期刊
MECHANISM AND MACHINE THEORY
卷 156, 期 -, 页码 -出版社
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.mechmachtheory.2020.104147
关键词
Reconfigurable vehicle model; Reconfigurable control; Vehicle dynamics; Three-wheeled vehicles; Vehicle stability control; Torque vectoring
资金
- Natural Sciences and Engineering Research Council of Canada
- Ontario Research Fund
This study introduces a novel vehicle modeling approach for a unified reconfigurable vehicle dynamics model applicable to various vehicles without the need for new derivation. The model can be reconfigured by setting the diagonal elements of the corner reconfiguration matrix and actuator reconfiguration matrix.
This study presents a novel approach in vehicle modeling to provide a unified reconfigurable vehicle dynamics model. The introduced vehicle model is applicable for analysis, design, and control of a wide variety of vehicles and can be reconfigured for fourand three-wheeled vehicles. Active steering, differential braking, torque vectoring, and active camber are included in the model as the actuators. The proposed set of model equations is reconfigurable and can be adjusted for various vehicles without need for new derivation. Two matrices are defined called the corner reconfiguration matrix and actuator reconfiguration matrix that are responsible for wheel and actuator configurations of the vehicle, respectively. The model can be reconfigured by setting the diagonal elements of these two matrices. The proposed reconfigurable model is compared with different high-fidelity vehicle models in CarSim for validation. Simulation results show that four-wheeled and three wheeled vehicle models can all be drawn from the single unified reconfigurable model. In addition, the introduced model properly matches the high-fidelity CarSim models for four-wheeled and three-wheeled vehicles. (C) 2020 Elsevier Ltd. All rights reserved.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据