The yaw moment control is the most efficient method for improving vehicle handling and stability. A corrective yaw moment should be applied to the vehicle in order to modify the dynamic behaviour of vehicle. This corrective yaw moment is related to the interaction between the tires and road. Therefore generating corrective yaw moment independent from the tire-road interactions is noteworthy. In...

Nonlinear hunting speeds of railway vehicles running on a tangent track are analytically obtained using Hopf bifurcation theory in this paper. The railway vehicle model consists of nonlinear primary yaw dampers, nonlinear flange contact stiffness as well as the clearance between the wheel flange and rail tread. Linear and nonlinear critical speeds are obtained using Bogoliubov method. A compreh...

The in-wheel electric vehicle is expected to be a popular next-generation vehicle because an in-wheel system can simplify the powertrain and improve driving performance. In addition, it also has an advantage in that it maximizes driving efficiency through independent torque control considering the motor efficiency. However, there is an instability problem if only the driving torque is controlle...

Mobile robots are increasingly being used in high-risk, rough terrain situations, such as planetary exploration and military applications. Current control and localization algorithms are not well suited to rough terrain, since they generally do not consider the physical characteristics of the vehicle and of its environment. Poor attention has been devoted to the study of the dynamic ill-effects...

We describe in detail a novel kinematic simulation of a three-wheeled mobile robot moving on extremely uneven terrain. The purpose of this simulation is to test a new concept, called Passive Variable Camber (PVC), for reducing undesirable wheel slip. PVC adds an extra degree of freedom at each wheel/platform joint, thereby allowing the wheel to tilt laterally. This extra motion allows the vehic...

This paper presents an integration design scheme and an optimization control strategy for electric wheels to suppress the in-wheel vibration and improve vehicle ride comfort. The in-wheel motor is considered as a dynamic vibration absorber (DVA), which is isolated from the unsprung mass by using a spring and a damper. The proposed DVA system is applicable for both the inner-rotor motor and oute...

A common mobile robot design consists of three ‘omniwheels’ arranged at the vertices of an equilateral triangle, with wheel axles aligned with the rays from the center of the triangle to each wheel. Omniwheels, like standard wheels, are driven by the motors in a direction perpendicular to the wheel axle, but unlike standard wheels, can slip in a direction parallel to the axle. Unlike a steered ...

This paper considers wheeled vehicles traversing unknown terrain, and proposes an approach for identifying the unknown soil parameters required for vehicle driving force prediction (drawbar pull prediction). The predicted drawbar pull can potentially be employed for traversability prediction, traction control, and trajectory following which, in turn, improve overall performance of off-road whee...

Our research goal is to realize a robust navigation in indoor and outdoor environment for autonomous vehicle. An omnidirectional vehicle driven by four Mecanum wheels was chosen for our research platform. Mecanum wheel has 16 tilted rollers (45 degrees against the direction of wheel rotation) around the wheel, so the vehicle moves omnidirectionally by controlling these wheels independently. How...

The vehicle driving comfort has become one of the important factors of vehicle quality and receives increasing attention. In this paper, the mechanical and mathematical models of the halfcar, five degrees of freedom DOF of a vehicle were established, as well as the pseudoexcitation model of road conditions for the front wheel and the rear wheel. By the pseudoexcitation method, the equations of ...