Design and advanced robust chassis dynamics control for x-by-wire unmanned ground vehicle [electronic resource] / Jun NI, Jibin Hu, Changle Xiang.
- [San Rafael, California] : Morgan & Claypool, 2018.
- Synthesis digital library of engineering and computer science
Synthesis lectures on advances in automotive technology; # 2.
Synthesis lectures on advances in automotive technology ; 2
1 online resource (130 pages) : illustrations.
- Automated vehicles.
Vehicles, Remotely piloted.
- Electronic books.
- System Details:
- Mode of access: World Wide Web.
- X-by-wire Unmanned Ground Vehicles (UGVs) have been attracting increased attention for various civilian or military applications. The x-by-wire techniques (drive-by-wire, steer-by-wire, and brake-by-wire techniques) provide the possibility of achieving novel vehicle design and advanced dynamics control, which can significantly improve the overall performance, maneuverability, and mobility of the UGVs. However, there are few full x-by-wire UGVs prototype models reported in the world. Therefore, there is no book that can fully describe the design, configuration, and dynamics control approach of full x-by-wire UGVs, which makes it difficult for readers to study this hot and interesting topic. In this book, we use a full x-by-wire UGV, developed by our group, as the example. This UGV is completely x-by-wire with four in-wheel motors driven and a four-wheel independent steer. In this book, the overall design of the UGV, the design of the key subsystems (battery pack system, in-wheel motor-driven system, independent steer system, remote and autonomous control system), and the dynamics control approach will be introduced in detail, and the experiment's results will be provided to validate the proposed dynamics control approach.
- 1. Unmanned ground vehicles: an introduction
1.1 Basic introduction to the UGV
1.1.1 What is a UGV?
1.1.2 Example of UGVs developed by Stanford University and Beijing Institute of Technology
1.1.3 Basic application of the UGV in civilian and military fields
1.2 The brief development history of the military UGV
1.2.1 Light-class military robots
1.2.2 Military heavy-class UGVs based on modification
1.3 The development of the x-by-wire military UGV
1.3.1 The six-wheeled skid-steered x-by-wire UGV
1.3.2 A six-wheeled UGV developed by the authors
1.3.3 The four-wheeled x-by-wire UGV
2. Design of a full x-by-wire UGV-unmanned ground carrier
2.1 Serval classic x-by-wire testbeds in passenger car field
2.2 Overall concept of the unmanned ground carrier
2.2.1 The proposal of the overall concept
2.2.2 The social activities of the UGC
2.2.3 The advantages of the UGC compared to previous four-wheeled UGVs
2.3 Overall design of the unmanned ground carrier
2.3.1 Overview of the UGC
2.3.2 The hardware configuration and the signal flow of the UGC
2.4 Design of the high-voltage battery pack and the in-wheel motor-driven system
2.4.1 Design of the high-voltage and high-power density LiFePO4 battery pack
2.4.2 Design of the compact in-wheel motor-driven system and performance evaluation
2.5 Design of the independent steer and the double wishbone suspension systems
2.5.1 Design of the independent steer system
2.5.2 Four steer modes of the mother vehicle
2.5.3 Design of the double wishbone suspension
2.6 Design of the mechanisms for carrier-based robots or rotorcrafts
2.6.1 Design of the mechanisms for sending out or taking back the robot
2.6.2 Design of the mechanisms for landing and stabilizing the rotorcrafts
3. Advanced chassis dynamics control of the unmanned ground carrier
3.1 The application of control configured vehicle (CCV) concept
3.1.1 Basic concept of CCV
3.1.2 The hardware configuration problem of the UGC without CCV
3.1.3 The hardware configuration of the UGC under CCV
3.2 Overall chassis dynamics control architecture
3.3 Control-oriented uncertain vehicle lateral dynamics model
3.3.1 Basic 2-DoFs vehicle lateral dynamics model
3.3.2 Involvement of the unmodeled uncertainties and disturbances
3.4 Chassis robust yaw moment control in high-speed conditions
3.4.1 Definition of the target closed-looped poles locations
3.4.2 Design of the robust pole assignment controller
3.5 Chassis robust yaw moment control in DMSM
3.5.1 Control objective definition in DMSM
3.5.2 Design of the robust H infinity yaw moment controller in DMSM
3.6 Robust chassis control with consideration of time delay
3.6.1 Description of the time delay of the control system
3.6.2 Design of the robust controller considering the time delay
3.7 Tire forces distribution and tire slip ratio control
3.7.1 Tire forces distribution based on tire vertical load
3.7.2 Sliding mode tire slip ratio control
3.8 A nonlinear tire model for tire behavior estimation
3.8.1 The contact pressure distribution assumption
3.8.2 Calculation of the tire acting longitudinal and lateral force
4. Performance test and evaluation of the unmanned ground carrier
4.1 Basic performance test and endurance performance evaluation in field environments
4.1.1 A basic test for the UGC: the mission to find a target in the narrow space
4.1.2 The endurance experiments in the field environments
4.1.3 The test of the mechanisms to send out and take back the robot/rotorcrafts
4.2 Acceleration and tire force distribution performance evaluation
4.2.1 The acceleration experiments on pavement road
4.2.2 The acceleration experiments on off road
4.3 Chassis yaw moment control performance evaluation
4.3.1 Yaw moment control experiment in ASM on pavement road
4.3.2 Yaw moment control experiment in ASM on off road
4.4 Tire slip ratio control and ZRSM performance evaluation
- Part of: Synthesis digital library of engineering and computer science.
Includes bibliographical references (pages 121-128).
Title from PDF title page (viewed on January 26, 2018).
- Hu, Jibin, author.
Xiang, Changle, author.
- Other format:
- Print version:
- Publisher Number:
- 10.2200/S00813ED1V01Y201710AAT002 doi
- Access Restriction:
- Restricted for use by site license.
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