A low-order dynamic model of a tracked robot inclusive of non-linear slip

被引：5
|
作者：
Dean, Adam J. [1 ]
Brennan, Sean N. [1 ]
机构：
[1] Penn State Univ, Dept Mech Engn, University Pk, PA 16802 USA
来源：
INTERNATIONAL JOURNAL OF HEAVY VEHICLE SYSTEMS | 2008年 / 15卷 / 2-4期
关键词：
tracked vehicles; mathematical models; simulation; vehicle-terrain interaction; motion control; friction; rolling roadway simulator;
D O I：
10.1504/IJHVS.2008.022248
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
This work presents results of low-order modelling of the planar dynamics of a tracked robot focusing on the coupled lateral, rotational, and longitudinal dynamics. This model is validated experimentally using a novel rolling roadway simulator that allows for uniform surface interaction as well as accurate sensing of vehicle position and orientation at high bandwidth. Comparing simulations to experimental tests using aggressive planar manoeuvres, the model was found to capture major components of chassis behaviour even for combined manoeuvres, for example lane changes while accelerating or decelerating, or lane changes during a steady turn.
引用
收藏
页码：327 / 355
页数：29
相关论文
共 50 条
  • [1] ON LOW-ORDER NON-LINEAR STOCHASTIC-DYNAMIC SYSTEMS
    WIINNIELSEN, A
    TELLUS SERIES A-DYNAMIC METEOROLOGY AND OCEANOGRAPHY, 1983, 35 (01) : 1 - 16
  • [2] Non-linear control of a tracked robot
    Veselov, Gennady
    Sklyarov, Audrey
    Chavez, Jordanis Viltres
    2019 IEEE 17TH INTERNATIONAL CONFERENCE ON INDUSTRIAL INFORMATICS (INDIN), 2019, : 641 - 646
  • [3] THE NON-LINEAR EFFECTS OF OROGRAPHIC AND MOMENTUM FORCING IN A LOW-ORDER, BAROTROPIC MODEL
    KALLEN, E
    JOURNAL OF THE ATMOSPHERIC SCIENCES, 1981, 38 (10) : 2150 - 2163
  • [4] Non-linear observer for slip estimation of tracked vehicles
    Song, Z-B
    Zweiri, Y. H.
    Seneviratne, L. D.
    Althoefer, K.
    PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART D-JOURNAL OF AUTOMOBILE ENGINEERING, 2008, 222 (D4) : 515 - 533
  • [5] A Low-order Hybrid Dynamic Model for Evaporators
    Ding, Xudong
    Cai, Wenjian
    Duan, Peiyong
    Wang, Xinli
    Yin, Chunjie
    Wang, Jing
    2017 CHINESE AUTOMATION CONGRESS (CAC), 2017, : 7522 - 7527
  • [6] Theoretical model of non-linear tire slip
    Abdulgazis, A. U.
    Podrigalo, M. A.
    Abdulgazis, U. A.
    INTERNATIONAL CONFERENCE ON MODERN TRENDS IN MANUFACTURING TECHNOLOGIES AND EQUIPMENT (ICMTMTE) 2020, 2020, 971
  • [7] The AOLI low-order non-linear curvature wavefront sensor: Laboratory and on-sky results
    Crass, Jonathan
    King, David
    Mackay, Craig
    ADAPTIVE OPTICS SYSTEMS IV, 2014, 9148
  • [8] NON-LINEAR, LOW ORDER INTERACTIONS
    KALLEN, E
    WIINNIELSEN, AC
    TELLUS, 1980, 32 (05): : 393 - 409
  • [9] On the prediction of linear stochastic systems with a low-order model
    Wang, FM
    Scott, R
    TELLUS SERIES A-DYNAMIC METEOROLOGY AND OCEANOGRAPHY, 2005, 57 (01) : 12 - 20
  • [10] Low-order dynamic model for flexible hydraulic cranes
    Linjama, M
    Virvalo, T
    PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING, 1999, 213 (I1) : 11 - 22
12345