Hybrid modelling of an all-electric front-wheel Ackerman steered vehicle

Author

Economou, J.T. ; Luk, P.C.K. ; Tsourdos, A. ; White, B.A.

Author_Institution

Dept. of Aerosp., Power & Sensors, Cranfield Univ.-RMCS, Swindon, UK

Volume

5

fYear

2003

fDate

6-9 Oct. 2003

Firstpage

3294

Abstract

In this paper the model of a front wheel Ackerman steered all-electric vehicle is described. The model has been developed using a ´hybrid´ approach by fusing the conventional dynamics and kinematics equations of motion, and an intelligent fuzzy-Sugeno rule base for the front and rear tyres cornering force characteristics and a static model for the permanent magnet direct current (PMDC) actuator. The analysis due to the fuzzy-Sugeno model of the entire tyre nonlinear envelope also enables the test of the vehicle under rapid and aggressive steering demands. The vehicle was simulated for a multi-frequency steering demand with a gradual velocity increase. The analysis allowed the capability and suitability of the PMDC traction system.

Keywords

DC machines; actuators; electric vehicles; fuzzy logic; knowledge based systems; mobile robots; permanent magnet machines; vehicle dynamics; all-electric front-wheel Ackerman steered vehicle; dynamics motion equation; force characteristic; hybrid modelling; intelligent fuzzy-Sugeno rule base; kinematics motion equation; mobile robot; multifrequency steering demand; permanent magnet direct current actuator; tyre nonlinear envelope; Actuators; DC motors; Fuzzy logic; Intelligent sensors; Mathematical model; Tires; Traction motors; Vehicle driving; Vehicle dynamics; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Vehicular Technology Conference, 2003. VTC 2003-Fall. 2003 IEEE 58th

ISSN

1090-3038

Print_ISBN

0-7803-7954-3

Type

conf

DOI

10.1109/VETECF.2003.1286276

Filename

1286276