Email this article 
Open Access
Subscription or Fee Access
Modeling and Verification of 7 DOF Armored Vehicle Model Considering Lateral Dynamics
(*) Corresponding author
DOI: https://doi.org/10.15866/iremos.v9i4.8633
Abstract
This paper presents the modeling of a 7 DOF Armored Vehicle. It includes load distribution, tire model, wheel model, handling model, yaw effect and side slip angle. All the mathematical equation will be derived in this paper and the modeling is developed using a MATLAB SIMULINK software. Then, the model is verified with the graph obtained by CarSim. A test procedure of double lane change driver path follower is used for the verification. Lastly, the results obtained by the simulation and CarSim validation will be discussed in term of its trend and similarity. Validation results showed that the developed model presents similar trend with CarSim results. The validated armored vehicle model can be used for further research such as developing a lane tracking system based on input given using a robotic driver system which act as actuator.
Copyright © 2016 Praise Worthy Prize - All rights reserved.
Keywords
References
Calabrese, F., Farroni, F., Timpone, F., A Flexible Ring Tyre Model for Normal Interaction, (2013) International Review on Modelling and Simulations (IREMOS), 6 (4), pp. 1301-1306.
Koulocheris, D., Optimum Dynamic Performance of a Tank-Vehicle, (2015) International Journal on Numerical and Analytical Methods in Engineering (IRENA), 3 (5), pp. 118-123.
Sharma, V., Purwar, S., Chebyshev Neural Network-Based Discrete-Time Adaptive Speed Control for a Light Weighted All-Electric Vehicle, (2014) International Review of Electrical Engineering (IREE), 9 (1), pp. 92-102
Mostefai, L., Denai, M., Tabti, K., Meguenni, K., Tahar, M., LMI Design of a Direct Yaw Moment Robust Controller Based on Adaptive Body Slip Angle Observer for Electric Vehicles, (2013) International Review of Automatic Control (IREACO), 6 (6), pp. 745-750.
Ribar, E., Murín, J., Kozák, Š., Vehicle Route Complex Modelling, (2016) International Review of Automatic Control (IREACO), 9 (2), pp. 115-121.
http://dx.doi.org/10.15866/ireaco.v9i2.8732
El Majdoub, Khalid, Fouad Giri, Hamid Ouadi, Luc Dugard, and Fatima Zara Chaoui, Vehicle longitudinal motion modeling for nonlinear control, Control Engineering Practice. 20 (1), (2012) 69-81.
http://dx.doi.org/10.1016/j.conengprac.2011.09.005
Germann, St, and R. Isermann, Modelling and control of longitudinal vehicle motion, American Control Conference, IEEE. Vol. 1 1994.
http://dx.doi.org/10.1109/acc.1994.751681
O'brien, R. T., P. A. Iglesias, and T. J. Urban, Vehicle lateral control for automated highway systems, IEEE Transactions on Control Systems Technology. 4(3), 1996, pp. 266-273.
http://dx.doi.org/10.1109/87.491200
Li, Li, Fei-Yue Wang, and Qunzhi Zhou, Integrated longitudinal and lateral tire/road friction modeling and monitoring for vehicle motion control, IEEE Transactions on Intelligent Transportation Systems, 7(1) 2006, pp. 1-19.
http://dx.doi.org/10.1109/tits.2005.858624
Bakker, Egbert, Hans B. Pacejka, and Lars Lidner, A new tire model with an application in vehicle dynamics studies, SAE Technical Paper, 890087 (1989).
http://dx.doi.org/10.4271/890087
Bakker, Egbert, Lars Nyborg, and Hans B. Pacejka, Tyre modelling for use in vehicle dynamics studies, SAE Technical Paper, 870421 (1987).
http://dx.doi.org/10.4271/870421
Hudha K., Kadir Z.A., and Jamaluddin. H., Simulation and experimental evaluations on the performance of pneumatically actuated active roll control suspension system for improving vehicle lateral dynamic performance, Int J. vehicle design, Vol. 64, pp. 72-100.
http://dx.doi.org/10.1504/ijvd.2014.057771
Short, Michael, Michael J. Pont, and Qiang Huang, Simulation of vehicle longitudinal dynamics, Safety and Reliability of Distributed Embedded Systems (2004), pp. 04-01.
Kadir, Z. A., Hudha, K., Ahmad, F., Abdullah, M. F., Norwazan, A. R., Mohd Fazli, M.Y., Khalid, A. J., and Gunasilan, M, Verification of 14DOF full vehicle model based on steering wheel input, Applied Mechanics and Materials, 165, pp. 109-113
http://dx.doi.org/10.4028/www.scientific.net/amm.165.109
Cherouat, H., M. Braci, and S. Diop, Vehicle velocity, side slip angles and yaw rate estimation, Proceedings of the IEEE International Symposium on Industrial Electronics. Vol. 1. IEEE, 2005.
http://dx.doi.org/10.1109/isie.2005.1528935
Farrelly, J., & Wellstead, P. (1996, September). Estimation of vehicle lateral velocity. In Control Applications, 1996., Proceedings of the 1996 IEEE International Conference on (pp. 552-557). IEEE.
http://dx.doi.org/10.1109/cca.1996.558920
Yih, P., & Gerdes, J. C. (2005). Modification of vehicle handling characteristics via steer-by-wire. IEEE Transactions on Control Systems Technology, 13(6), 965-976.
http://dx.doi.org/10.1109/tcst.2005.854320
Satar, M. I., Hudha, K., Mat, W. A. W., Othman, R. N. I. R., Murrad, M., Aparow, V. R., & Salleh, M. S. (2015, May). Modelling and verification of 5 degree of freedom vehicle longitudinal model. In Control Conference (ASCC), 2015 10th Asian (pp. 1-6). IEEE.
http://dx.doi.org/10.1109/ascc.2015.7244628
Amer, N. H., Zamzuri, H., Hudha, K., Aparow, V. R., Kadir, Z. A., & Abidin, A. F. Z. (2016, March). Modelling and trajectory following of an armoured vehicle. In 2016 SICE International Symposium on Control Systems (ISCS) (pp. 1-6). IEEE.
http://dx.doi.org/10.1109/siceiscs.2016.7470169
Mohd Sabirin, R. (2015). Modelling, Simulation And Control Of A Series Hybrid Electric Vehicle (Doctoral dissertation, Universiti Teknikal Malaysia Melaka.).
Refbacks
- There are currently no refbacks.
Please send any question about this web site to info@praiseworthyprize.com
Copyright © 2005-2023 Praise Worthy Prize
