• Title/Summary/Keyword: Track Driving Motor

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A Study on The Straightness Improvement Method for Ensure Safety of Mobile Walker in Slope (경사로에서의 안정성 확보를 위한 Mobile Walker의 직진성 향상 기법에 관한 연구)

  • Lee, W.Y.;Lee, D.K.;Lee, E.H.
    • Journal of rehabilitation welfare engineering & assistive technology
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    • v.8 no.3
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    • pp.187-196
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    • 2014
  • This paper suggests linearity enhancement algorithm to Ensure safety of Mobile Walker on Slope. Mobile Walker happens to get off track due to external forces from Walker's weight and the degree of the slope while slope driving. In order to compensate this, this research used the controller that estimates the external forces according to the slope of road surface and adjusts it to the motor output. Also, through comparisons between targeted rotational angular velocity which the user inputs and its velocity of the robot, algorithm was applied which applies a weight to each shaft. As a result of applying the proposed correction controller, it diverges in case of non-compensation experiments that deviates when moving, but it case of applying the ramp calibration algorithm, the deviation distance at max was within 10cm that it keeps safe driving, and change rate of deviation distance was also stabilized after 1m where no more changes occurred.

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Path Tracking Control of 6X6 Skid Steering Unmanned Ground Vehicle for Real Time Traversability (실시간 주행 안정성 분석을 위한 6X6 스키드 조향 무인 자율 주행 차량의 경로 추종 제어)

  • Hong, Hyosung;Han, Jong-Boo;Song, Hajun;Jung, Samuel;Kim, Sung-Soo;Yoo, Wan Suk;Won, Mooncheol;Joo, Sanghyun
    • Transactions of the Korean Society of Mechanical Engineers A
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    • v.41 no.7
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    • pp.599-605
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    • 2017
  • For an unmanned vehicle to be driven on the off-road terrain, it is necessary to consider the vehicle's stability. This paper suggests a path tracking controller for simulation of real-time vehicle stability analysis. The path tracking controller uses the preview distance to track the given trajectory. The disturbance moment is estimated using the yaw moment observer, and this information is used for compensation in the yaw moment control. On a curved path, the vehicle's desired velocity is determined from the curvature of the path. Because the vehicle is equipped with six independent motor driven wheels, the driving torques are distributed on all the wheels. The effectiveness of the path tracking controller is verified using ADAMS/MATLAB co-simulation.