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Scale-Model Articulated Vehicle with Individual Wheel Drives for Traction Control Studies
Luleå tekniska universitet, Institutionen för system- och rymdteknik, Signaler och system.
Luleå tekniska universitet, Institutionen för system- och rymdteknik, Signaler och system.ORCID-id: 0000-0002-0079-9049
2015 (Engelska)Ingår i: International Journal of Vehicle Systems Modelling and Testing, ISSN 1745-6436, E-ISSN 1745-6444, Vol. 10, nr 3, s. 305-319Artikel i tidskrift (Refereegranskat) 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

Ort, förlag, år, upplaga, sidor
2015. Vol. 10, nr 3, s. 305-319
Nationell ämneskategori
Reglerteknik
Forskningsämne
Reglerteknik
Identifikatorer
URN: urn:nbn:se:ltu:diva-12731DOI: 10.1504/IJVSMT.2015.070171Scopus ID: 2-s2.0-84934274334Lokalt ID: be581da1-1f3c-49f5-a200-191f76cdda5bOAI: oai:DiVA.org:ltu-12731DiVA, id: diva2:985682
Projekt
Optimal dragkraftsreglering för anläggningsmaskiner
Anmärkning
Validerad; 2015; Nivå 1; 20150812 (andbra)Tillgänglig från: 2016-09-29 Skapad: 2016-09-29 Senast uppdaterad: 2018-07-10Bibliografiskt granskad

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Broström, FredrikAndersson, UlfGustafsson, Thomas

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