• Title/Summary/Keyword: Steering system modeling

Search Result 73, Processing Time 0.028 seconds

Development of Four-Wheel Independent Steering Driving Platform for Agricultural Robot (식물 생산로봇에 적용을 위한 사륜 독립 조향 구동 플랫폼 연구)

  • Kim, Kyoung-Chul;Yang, Chang-Wan;Kim, Kyoung-Ju;Ryuh, Beom-Sahng
    • Journal of the Korean Society for Precision Engineering
    • /
    • v.28 no.8
    • /
    • pp.942-950
    • /
    • 2011
  • Automation is important in modern agricultural environment, which demands the highest level of technology. In the paper an independent four-wheel steering driving platform is developed especially for horticulture in glass house farm. Mathematical modeling of the four wheel system is carried out for smooth movement. The relationships between steering angle, the turning radius, and escape trajectory are simulated using the dynamic analysis program. Optimal driving algorithm is sought through the performance evaluation.

Stability Analysis and Control of the Electro-Hydraul System for Steering of the Unmaned Container Transporter(UCT) (무인 컨테이너 운반차량의 조향을 위한 전기-유압 시스템의 안정도 분석 및 해석)

  • 최재영;윤영진;허남;이영진;이만형
    • Proceedings of the Korean Institute of Navigation and Port Research Conference
    • /
    • 1999.10a
    • /
    • pp.371-374
    • /
    • 1999
  • This paper present the nonlinear control and the Lyapunov analysis of the nonlinear electro-hydraulic system for steering control of UCT. Electro-hydraulic system itself has the high nonlinearities arisen from the nonlinear characteristics of the pressure-fluid flow in valve and friction in cylinder. These nonlinearities are unmodeled terms in the transfer function. This paper presents the system modeling, analysis of stability based on the Lyapunov function and simulation of the nonlinear hydraulic servo system.

  • PDF

A Study on the Hydraulic System Circuit Analysis and Modeling of the Hydrostatic Tire Roller (유압 구동방식 타이어 롤러를 위한 유압 시스템 회로분석 및 모델링에 관한 연구)

  • Kim, Sang-Gyum;Park, Chun-Shic;Kim, Jung-Ha
    • Transactions of the Korean Society of Mechanical Engineers B
    • /
    • v.27 no.4
    • /
    • pp.432-439
    • /
    • 2003
  • In this research, we are trying to develop the new hydraulic driven tire roller which is conventionally operated by mechanical transmission system. The reason why we would like to develop it is that tire roller is one of the most useful machine for the road construction site and also imported totally from overseas. In this paper, we conceptualize the new hydraulic system and derive the equations of motion for dynamic analysis. And we investigate system modeling by using DAQ system. Finally, we will design the controller, which can manage the hydraulic circuit of steering and traction mechanism system. The advent of modern high-speed computers coupled with the application of high-fidelity simulation technology can be used to create “virtual prototypes of construction equipment. Tests conducted on these virtual prototypes may be used to augment actual machine testing, thereby lowering costs and shortening time to production. So, we studied tire roller to integrate development technology. In System Analysis, We formulate hydraulic driving system model and hydraulic steering system model. Also, We integrate DAQ system to acquire experimental result in real tire roller equipment.

Development of the Neural Network Steering Controller for Unmanned electric Vehicle (무인 전기자동차의 신경회로망 조향 제어기 개발)

  • 손석준;김태곤;김정희;류영재;김의선;임영철;이주상
    • Proceedings of the Korean Institute of Intelligent Systems Conference
    • /
    • 2000.11a
    • /
    • pp.281-286
    • /
    • 2000
  • This paper describes a lateral guidance system of an unmanned vehicle, using a neural network model of magneto-resistive sensor and magnetic fields. The model equation was compared with experimental sensing data. We found that the experimental result has a negligible difference from the modeling equation result. We verified that the modeling equation can be used in the unmanned vehicle simulations. As the neural network controller acquires magnetic field values(B$\_$x/, B$\_$y/, B$\_$z/) from the three-axis, the controller outputs a steering angle. The controller uses the back-propagation algorithms of neural network. The learning pattern acquisition was obtained using computer simulation, which is more exact than human driving. The simulation program was developed in order to verify the acquisition of the learning pattern, learning itself, and the adequacy of the design controller. A computer simulation of the vehicle (including vehicle dynamics and steering) was used to verify the steering performance of the vehicle controller using the neural network. Good results were obtained. Also, the real unmanned electrical vehicle using neural network controller verified good results.

  • PDF

System Modeling and Simulation for an In-wheel Drive Type $6{\times}6$ Vehicle (인휠드라이브 타입 $6{\times}6$ 차량 플랫폼을 위한 시스템 모델링 및 시뮬레이션)

  • Lee, Jeong-Yeob;Suh, Seung-Whan;Shon, Woong-Hee;Kim, Chang-Jun;Han, Chang-Soo
    • Transactions of the Korean Society of Automotive Engineers
    • /
    • v.19 no.2
    • /
    • pp.1-11
    • /
    • 2011
  • The skid-steering method that applied a number of mobile robot currently is extremely effective in narrow area. But it contains several problems such as its natural properties, slip, occurred by different direction between vehicle's driving and wheel's rotary. Through this paper, suitable control algorithm of $6{\times}6$ skid steering wheeled vehicle and its driving methods are proposed by analyzing the behavior $6{\times}6$ skid-steered wheeled vehicle model designed by engineering analysis strategy. To do this, based on a behavior of designed driving system, required torque and other performance of in-wheel type motor system are considered, and finally control algorithm for each wheel is proposed and simulated using this model. To test the proposed vehicle system, driver model is designed using PID closed loop system and included in the total driving control algorithm. The Performance of designed vehicle model is verified by using DYC (Direct Yaw Control) cornering mode and slip mode control to follow the steering input which are essential to evaluate the driving performance of $6{\times}6$ vehicle. Proposed modeling strategy and control method will be implemented to the real $6{\times}6$ in-wheel drive type vehicle.

Quasi-optical design and analysis of a remote steering launcher for CFETR ECRH system

  • Zhang Chao;Xiaojie Wang;Dajun Wu;Yunying Tang;Hanlin Wang;Dingzhen Li;Fukun Liu;Muquan Wu;Peiguang Yan;Xiang Gao;Jiangang Li
    • Nuclear Engineering and Technology
    • /
    • v.56 no.5
    • /
    • pp.1619-1626
    • /
    • 2024
  • In order to optimize the operational safety and reliability of the upper launcher for the CFETR ECRH system, a design of the launcher for NTM control based on the remote steering concept is currently being carried out for comparison with the front steering equivalent. This paper presents the layout design and analysis of the quasi-optical system in the remote steering launcher. A 3D visual quasi-optical design tool has been developed for the quasi-optical system, which can parameterize modeling, perform general astigmatic beam calculation and show the accurate beam propagation path in the upper port. Three identical sets of quasi-optical modules are arranged in the launcher, and each one consists of two fixed double-curvature focusing mirrors, which focus and reflect the steering beams (- 12°-12°) from two square corrugated waveguides. The beam characteristics at the resonance layer are described, and the average beam radius is < 100 mm. The peak head loads on the surfaces of the two fixed mirrors are 1.63 MW/m2 and 1.52 MW/m2. The position and size of the beam channel in the blanket are obtained, and the opening apertures on the launcher-facing and plasma-facing sides of the blanket module are 0.54 m2 and 0.4 m2, respectively.

Vibration Analysis on the Variable Configurations of Tube Conveying Fluid (유체가 흐르는 튜브 라인의 기하학적 형상에 따른 진동해석)

  • 유계형;김영권;신귀수;박태원
    • Journal of the Korean Society of Safety
    • /
    • v.16 no.1
    • /
    • pp.25-30
    • /
    • 2001
  • This paper studies the effect of vibration characteristics of tube line conveying fluid with the power steering system of bus. We modelled fluid-filled tube line using I-DEAS software to investigate vibration characteristics of the power steering tube line. And we obtained the natural frequency of tube line through finite element analysis. Analytic solutions were compared with experimental solutions to verify finite element model. We tested the tube line to examine an effect of pressure pulse by vane pump and variation of geometry of tube. From both the experimental results and the modeling results for vibration characteristics of the tube line conveying fluid, we confirmed that vibration characteristics induced by pulse propagated along the power steering tube line and resonance occurred around the natural frequency with pulse excitation.

  • PDF

Modeling and testing for hydraulic shock regarding a valve-less electro-hydraulic servo steering device for ships

  • Jian, Liao;Lin, He;Rongwu, Xu
    • International Journal of Fluid Machinery and Systems
    • /
    • v.8 no.4
    • /
    • pp.318-326
    • /
    • 2015
  • A valve-less electro-hydraulic servo steering device (short: VSSD) for ships was chosen as a study object, and its mathematic model of hydraulic shock was established on the basis of flow properties and force balance of each component. The influence of system structure parameters, changing rate of motor speed and external load on hydraulic shock strength was simulated by the method of numerical simulation. Experiment was designed to test the hydraulic shock mathematic model of VSSD. Experiment results verified the correctness of the model, and the model provided a correct theoretical method for the calculation and control of hydraulic shock of valve-less electro-hydraulic servo steering device.

Design of a Moving-magnet Electromagnetic Actuator for Fast Steering Mirror through Finite Element Simulation Method

  • Long, Yongjun;Mo, Jinqiu;Wei, Xiaohui;Wang, Chunlei;Wang, Shigang
    • Journal of Magnetics
    • /
    • v.19 no.3
    • /
    • pp.300-308
    • /
    • 2014
  • This paper develops a moving-magnet electromagnetic actuator for fast steering mirror (FSM). The actuator achieves a reasonable compromise between voice coil actuator and piezoelectric actuator. The stroke of the actuator is between the strokes of a piezoelectric actuator and a voice coil actuator, and its force output is a linear function of air gap and excitation current within our FSM travel range. Additionally, the actuator is more reliable than voice coil actuator as the electrical connection in the actuator is static. Analytically modeling the actuator is difficult and time-consuming. Alternatively, numerous finite element simulations are carried out for the actuator analysis and design. According to the design results, a real prototype of the actuator is fabricated. An experimental test system is then built. Using the test system, the force output of the fabricated actuator is evaluated. The test results validate the actuator analysis and design.