Title :
2 DOF lateral dynamic model with force input of skid steering wheeled vehicle
Author :
Zengxiong Peng ; Gongtao Ning
Author_Institution :
Nat. Key Lab. of Vehicular Transm., Beijing Inst. of Technol., Beijing, China
fDate :
Aug. 31 2014-Sept. 3 2014
Abstract :
Because of the great advantage of mobility and layout, the skid steering technology has been widely applied to intelligent wheeled vehicles. The author previously proposed the 2 DOF lateral dynamics model with velocity input and discussed the steady-state performance of the vehicle. Considering the traction mechanism of skid steering vehicle with electrical motor, in this paper, the 2 DOF lateral dynamics model with force input was established. Based on that, the steady-state and transient-state performance was analyzed and discussed, by comparison with the performance obtained by 2 DOF model with velocity input.
Keywords :
electric motors; intelligent transportation systems; steering systems; traction; DOF lateral dynamic model; electrical motor; intelligent wheeled vehicles; skid steering technology; skid steering wheeled vehicle; steady-state performance; traction mechanism; transient-state performance; Acceleration; Analytical models; Automobiles; Robots; Vehicle dynamics; Wheels; 2 DOF Model; Force Input; Intelligent Vehicle; Skid Steering;
Conference_Titel :
Transportation Electrification Asia-Pacific (ITEC Asia-Pacific), 2014 IEEE Conference and Expo
Conference_Location :
Beijing
Print_ISBN :
978-1-4799-4240-4
DOI :
10.1109/ITEC-AP.2014.6941009
