Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
Scale-Model Articulated Vehicle with Individual Wheel Drives for Traction Control Studies
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.ORCID iD: 0000-0002-0079-9049
2015 (English)In: International Journal of Vehicle Systems Modelling and Testing, ISSN 1745-6436, E-ISSN 1745-6444, Vol. 10, no 3, p. 305-319Article in journal (Refereed) Published
Abstract [en]

Small scale model vehicles have been successfully used in multiple projects for research and for evaluation of models. ArtiTRAX, an experimental platform designed at Luleå University of Technology, is introduced to study the behaviour of articulated vehicles with individually driven wheels. Three case studies are presented: energy efficiency due to load transfer, online tyre parameter estimation and articulation angle control. The platform was shown to be a valuable asset for research in this area. It gives insight into the problem of controlling overactuated systems and the design hazard of using multiple integrators. ArtiTRAX is shown to be controllable through a kinematic model by only using actuation of the wheel drives. The difference of energy consumption as a function of longitudinal torque distribution indicates that the effectiveness of the motors should be considered when controlling the motor currents. The lateral distribution of motor current as a function of the articulation angle has to be considered in order to minimise the energy consumption of an articulated vehicle. Further research is necessary for understanding the mechanisms and relations between the energy consumption and the controlled motor currents

Place, publisher, year, edition, pages
2015. Vol. 10, no 3, p. 305-319
National Category
Control Engineering
Research subject
Control Engineering
Identifiers
URN: urn:nbn:se:ltu:diva-12731DOI: 10.1504/IJVSMT.2015.070171Scopus ID: 2-s2.0-84934274334Local ID: be581da1-1f3c-49f5-a200-191f76cdda5bOAI: oai:DiVA.org:ltu-12731DiVA, id: diva2:985682
Projects
Optimal dragkraftsreglering för anläggningsmaskiner
Note
Validerad; 2015; Nivå 1; 20150812 (andbra)Available from: 2016-09-29 Created: 2016-09-29 Last updated: 2018-07-10Bibliographically approved

Open Access in DiVA

No full text in DiVA

Other links

Publisher's full textScopus

Authority records BETA

Broström, FredrikAndersson, UlfGustafsson, Thomas

Search in DiVA

By author/editor
Broström, FredrikAndersson, UlfGustafsson, Thomas
By organisation
Signals and Systems
In the same journal
International Journal of Vehicle Systems Modelling and Testing
Control Engineering

Search outside of DiVA

GoogleGoogle Scholar

doi
urn-nbn

Altmetric score

doi
urn-nbn
Total: 222 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf