A lateral dynamic model of an all Wheel steered bimodal vehicle

Author

Kim, Young-Chol ; Yun, Kyoung-Han ; Min, Kyung-Deuk ; Byun, Yun-Seob ; Mok, Jai-Kyun

Author_Institution

Chungbuk Nat. Univ., Seoul

fYear

2007

fDate

17-20 Oct. 2007

Firstpage

1734

Lastpage

1737

Abstract

This paper is concerned with a dynamic model of a bimodal vehicle that is being developed by KRRI. The vehicle characterizes to have all wheel steering and independent drives on each wheel except for the front ones. As a first step to design a good automatic guidance controller for the vehicle, a nonlinear vehicle dynamic model has been formulated. Since the effect of independent drives on steering angles is not much, only 3 steering angles of 3 axles are considered as inputs for linearised lateral motion. Finally, the linearised dynamic model in state space form is derived.

Keywords

automatic guided vehicles; electric drives; electric vehicles; linearisation techniques; motion control; nonlinear dynamical systems; road vehicles; state-space methods; steering systems; wheels; automatic guidance controller; dynamic wheel steered bimodal vehicle; electric drive; linearised dynamic model; linearised lateral motion control; nonlinear vehicle dynamic model; state space form; Automatic control; Axles; Electronic mail; Navigation; Rubber products; State-space methods; Vehicle driving; Vehicle dynamics; Vehicles; Wheels; Automatic Guidance Control; Bimodal Vehicle; Lateral Dynamic Model; Rubber Tired Tram;

fLanguage

English

Publisher

ieee

Conference_Titel

Control, Automation and Systems, 2007. ICCAS '07. International Conference on

Conference_Location

Seoul

Print_ISBN

978-89-950038-6-2

Electronic_ISBN

978-89-950038-6-2

Type

conf

DOI

10.1109/ICCAS.2007.4406618

Filename

4406618