Tire and rubber track interchangeable chassis combines the advantages of tire and rubber track,which can greatly improve the maneuverability of military construction machinery.However,there is almost no effective calc...Tire and rubber track interchangeable chassis combines the advantages of tire and rubber track,which can greatly improve the maneuverability of military construction machinery.However,there is almost no effective calculation model for the real-time static steering torque.When the relative sliding speed is greater than 0.01 m/s,the influence of friction heating can not be ignored.An improved LuGre model is established to calculate the static real-time steering torque of tire and rubber track interchangeable chassis.Firstly,the friction heating model between rubber and ground is established.Combined with the influence of temperature on the dynamic performance of rubber material,the influence of friction heating on the stiffness and friction coefficient of rubber track is analyzed,and the improved LuGre friction model is established.The steering torque of tire and rubber track interchangeable chassis is affected by rubber material properties,steering speed,pavement type,and ambient temperature.Compared with the original Lu Gre model,the improved LuGre model captures the change in friction torque during multiple in-situ turns due to frictional heating.The error with the experimental data is small,which verifies the effectiveness of the improved LuGre model.展开更多
Universal challenge lies in torque feedback accuracy for steer-by-wire systems,especially on uneven and low-friction road.Therefore,this paper proposes a fusion method based on Kalman filter that combines a dynamics-r...Universal challenge lies in torque feedback accuracy for steer-by-wire systems,especially on uneven and low-friction road.Therefore,this paper proposes a fusion method based on Kalman filter that combines a dynamics-reconstruction method and disturbance observer-based method.The dynamics-reconstruction method is designed according to the vehicle dynamics and used as the prediction model of the Kalman filter.While the disturbance observer-based method is performed as an observer model of the Kalman filter.The performance of all three methods is comprehensively evaluated in a hardware-in-the-loop system.Experimental results show that the proposed fusion method outperforms dynamics reconstruction method and disturbance observer-based method.Specifically,compared with the dynamics-reconstruction method,the root mean square error is reduced by 36.58%at the maximum on the flat road.Compared with the disturbance observer-based method,the root mean square error is reduced by 39.11%at the maximum on different-friction and uneven road.展开更多
基金funded by the National Key Research and Development Program of China(Grant No.2016YFC0802900)。
文摘Tire and rubber track interchangeable chassis combines the advantages of tire and rubber track,which can greatly improve the maneuverability of military construction machinery.However,there is almost no effective calculation model for the real-time static steering torque.When the relative sliding speed is greater than 0.01 m/s,the influence of friction heating can not be ignored.An improved LuGre model is established to calculate the static real-time steering torque of tire and rubber track interchangeable chassis.Firstly,the friction heating model between rubber and ground is established.Combined with the influence of temperature on the dynamic performance of rubber material,the influence of friction heating on the stiffness and friction coefficient of rubber track is analyzed,and the improved LuGre friction model is established.The steering torque of tire and rubber track interchangeable chassis is affected by rubber material properties,steering speed,pavement type,and ambient temperature.Compared with the original Lu Gre model,the improved LuGre model captures the change in friction torque during multiple in-situ turns due to frictional heating.The error with the experimental data is small,which verifies the effectiveness of the improved LuGre model.
文摘Universal challenge lies in torque feedback accuracy for steer-by-wire systems,especially on uneven and low-friction road.Therefore,this paper proposes a fusion method based on Kalman filter that combines a dynamics-reconstruction method and disturbance observer-based method.The dynamics-reconstruction method is designed according to the vehicle dynamics and used as the prediction model of the Kalman filter.While the disturbance observer-based method is performed as an observer model of the Kalman filter.The performance of all three methods is comprehensively evaluated in a hardware-in-the-loop system.Experimental results show that the proposed fusion method outperforms dynamics reconstruction method and disturbance observer-based method.Specifically,compared with the dynamics-reconstruction method,the root mean square error is reduced by 36.58%at the maximum on the flat road.Compared with the disturbance observer-based method,the root mean square error is reduced by 39.11%at the maximum on different-friction and uneven road.
