Following Chen＇s method [Commun. Theor. Phys. 52 （2009） 549] to use ＆step line tilting to realize tip tilting, to achieve finer rotation, it is discovered that a 16-step line tilting method may realize a rotation ...Following Chen＇s method [Commun. Theor. Phys. 52 （2009） 549] to use ＆step line tilting to realize tip tilting, to achieve finer rotation, it is discovered that a 16-step line tilting method may realize a rotation two order smaller than that achieved by ＆step.展开更多
This paper investigates an approach to improve the engagement quality of controlled transfer clutch mode in 4 wheel drive(WD) car from three considerations of reducing friction,smoothening responsiveness and alleviati...This paper investigates an approach to improve the engagement quality of controlled transfer clutch mode in 4 wheel drive(WD) car from three considerations of reducing friction,smoothening responsiveness and alleviating jerk.The method utilizes an improved sliding mode control with genetic algorithm instead of simplified mode to determine appropriate values of parameters in control close- loop.The simulation results show that the method is effective for improving the engagement quality of coupling satisfying different design needs for 4WD car,as well as robustness even if input torque is changed at a certain range.展开更多
This research formulates a path-following control problem subjected to wheel slippage and skid and solves it using a logic-based control scheme for a wheeled mobile robot （WMR）. The novelty of the proposed scheme li...This research formulates a path-following control problem subjected to wheel slippage and skid and solves it using a logic-based control scheme for a wheeled mobile robot （WMR）. The novelty of the proposed scheme lies in its methodology that considers both longitudinal and lateral slip components. Based on the derived slip model, the controller for longitudinal motion slip has been synthesized. Various control parameters have been studied to investigate their effects on the performance of the controller resulting in selection of their optimum values. The designed controller for lateral slip or skid is based on the proposed side friction model and skid check condition. Considering a car-like WMR, simulation results demonstrate the effectiveness of the proposed control scheme. The robot successfully followed the desired circular trajectory in the presence of wheel slippage and skid. This research finds its potential in various applications involving WMR navigation and control.展开更多
基金Supported by NKBRPC under Grant No.2006CB805905National Natural Science Foundation of China under Grant Nos.10901153 and 10771203CNSF under Grant No.10773009,SRFDP,and CAS
文摘Following Chen＇s method [Commun. Theor. Phys. 52 （2009） 549] to use ＆step line tilting to realize tip tilting, to achieve finer rotation, it is discovered that a 16-step line tilting method may realize a rotation two order smaller than that achieved by ＆step.
文摘This paper investigates an approach to improve the engagement quality of controlled transfer clutch mode in 4 wheel drive(WD) car from three considerations of reducing friction,smoothening responsiveness and alleviating jerk.The method utilizes an improved sliding mode control with genetic algorithm instead of simplified mode to determine appropriate values of parameters in control close- loop.The simulation results show that the method is effective for improving the engagement quality of coupling satisfying different design needs for 4WD car,as well as robustness even if input torque is changed at a certain range.
基金Project supported by the European Commission under the Erasmus Mundus Master Program
文摘This research formulates a path-following control problem subjected to wheel slippage and skid and solves it using a logic-based control scheme for a wheeled mobile robot （WMR）. The novelty of the proposed scheme lies in its methodology that considers both longitudinal and lateral slip components. Based on the derived slip model, the controller for longitudinal motion slip has been synthesized. Various control parameters have been studied to investigate their effects on the performance of the controller resulting in selection of their optimum values. The designed controller for lateral slip or skid is based on the proposed side friction model and skid check condition. Considering a car-like WMR, simulation results demonstrate the effectiveness of the proposed control scheme. The robot successfully followed the desired circular trajectory in the presence of wheel slippage and skid. This research finds its potential in various applications involving WMR navigation and control.
