A Direct Control Approach for Automatic Steering and Stability of Motorized Independently-Rotating Wheels

Xiaoyuan Liu; Roger Goodall; Simon Iwnicki

doi:10.1007/978-3-030-38077-9_3

A Direct Control Approach for Automatic Steering and Stability of Motorized Independently-Rotating Wheels

Xiaoyuan Liu, Roger Goodall, Simon Iwnicki

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

A simple control solution to realize the automatic steering and stability of the motorized independently-rotating wheel (IRW) configuration is proposed in this paper. Associated with a prototype of a two-axle vehicle, an active control strategy is developed to improve the dynamic behavior of the IRW system, especially the steering performances in curve negotiation. The simulation results demonstrate a significant reduction in the wheel/rail interaction without leading to instability issues owing to the proposed control approach.

Original language	English
Title of host publication	Advances in Dynamics of Vehicles on Roads and Tracks
Subtitle of host publication	Proceedings of the 26th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2019
Editors	Matthijs Klomp, Fredrik Bruzelius, Jens Nielsen, Angela Hillemyr
Publisher	Springer
Pages	24-30
Number of pages	7
Edition	1
ISBN (Electronic)	978303880779
ISBN (Print)	9783030380762
DOIs	https://doi.org/10.1007/978-3-030-38077-9_3
Publication status	Published - 14 Feb 2020
Event	26th IAVSD International Symposium on Dynamics of Vehicles on Roads and Tracks - Gothenburg, Sweden Duration: 12 Aug 2019 → 16 Aug 2019 Conference number: 26 https://iavsd2019.se/

Publication series

Name	Lecture Notes in Mechanical Engineering
Publisher	Springer
ISSN (Print)	2195-4356
ISSN (Electronic)	2195-4364

Conference

Conference	26th IAVSD International Symposium on Dynamics of Vehicles on Roads and Tracks
Abbreviated title	IAVSD 2019
Country/Territory	Sweden
City	Gothenburg
Period	12/08/19 → 16/08/19
Internet address	https://iavsd2019.se/

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10.1007/978-3-030-38077-9_3Licence: Unspecified

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Liu, X., Goodall, R., & Iwnicki, S. (2020). A Direct Control Approach for Automatic Steering and Stability of Motorized Independently-Rotating Wheels. In M. Klomp, F. Bruzelius, J. Nielsen, & A. Hillemyr (Eds.), Advances in Dynamics of Vehicles on Roads and Tracks: Proceedings of the 26th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2019 (1 ed., pp. 24-30). (Lecture Notes in Mechanical Engineering). Springer. https://doi.org/10.1007/978-3-030-38077-9_3

Liu, Xiaoyuan ; Goodall, Roger ; Iwnicki, Simon. / A Direct Control Approach for Automatic Steering and Stability of Motorized Independently-Rotating Wheels. Advances in Dynamics of Vehicles on Roads and Tracks: Proceedings of the 26th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2019. editor / Matthijs Klomp ; Fredrik Bruzelius ; Jens Nielsen ; Angela Hillemyr. 1. ed. Springer, 2020. pp. 24-30 (Lecture Notes in Mechanical Engineering).

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title = "A Direct Control Approach for Automatic Steering and Stability of Motorized Independently-Rotating Wheels",

abstract = "A simple control solution to realize the automatic steering and stability of the motorized independently-rotating wheel (IRW) configuration is proposed in this paper. Associated with a prototype of a two-axle vehicle, an active control strategy is developed to improve the dynamic behavior of the IRW system, especially the steering performances in curve negotiation. The simulation results demonstrate a significant reduction in the wheel/rail interaction without leading to instability issues owing to the proposed control approach.",

keywords = "Active control, Curve negotiation, Independently-rotating wheels, Stability",

author = "Xiaoyuan Liu and Roger Goodall and Simon Iwnicki",

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booktitle = "Advances in Dynamics of Vehicles on Roads and Tracks",

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edition = "1",

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Liu, X, Goodall, R & Iwnicki, S 2020, A Direct Control Approach for Automatic Steering and Stability of Motorized Independently-Rotating Wheels. in M Klomp, F Bruzelius, J Nielsen & A Hillemyr (eds), Advances in Dynamics of Vehicles on Roads and Tracks: Proceedings of the 26th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2019. 1 edn, Lecture Notes in Mechanical Engineering, Springer, pp. 24-30, 26th IAVSD International Symposium on Dynamics of Vehicles on Roads and Tracks, Gothenburg, Sweden, 12/08/19. https://doi.org/10.1007/978-3-030-38077-9_3

A Direct Control Approach for Automatic Steering and Stability of Motorized Independently-Rotating Wheels. / Liu, Xiaoyuan; Goodall, Roger; Iwnicki, Simon.
Advances in Dynamics of Vehicles on Roads and Tracks: Proceedings of the 26th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2019. ed. / Matthijs Klomp; Fredrik Bruzelius; Jens Nielsen; Angela Hillemyr. 1. ed. Springer, 2020. p. 24-30 (Lecture Notes in Mechanical Engineering).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Liu, Xiaoyuan

AU - Goodall, Roger

AU - Iwnicki, Simon

N1 - Conference code: 26

PY - 2020/2/14

Y1 - 2020/2/14

N2 - A simple control solution to realize the automatic steering and stability of the motorized independently-rotating wheel (IRW) configuration is proposed in this paper. Associated with a prototype of a two-axle vehicle, an active control strategy is developed to improve the dynamic behavior of the IRW system, especially the steering performances in curve negotiation. The simulation results demonstrate a significant reduction in the wheel/rail interaction without leading to instability issues owing to the proposed control approach.

AB - A simple control solution to realize the automatic steering and stability of the motorized independently-rotating wheel (IRW) configuration is proposed in this paper. Associated with a prototype of a two-axle vehicle, an active control strategy is developed to improve the dynamic behavior of the IRW system, especially the steering performances in curve negotiation. The simulation results demonstrate a significant reduction in the wheel/rail interaction without leading to instability issues owing to the proposed control approach.

KW - Active control

KW - Curve negotiation

KW - Independently-rotating wheels

KW - Stability

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UR - https://www.springer.com/gp/book/9783030380762

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BT - Advances in Dynamics of Vehicles on Roads and Tracks

A2 - Klomp, Matthijs

A2 - Bruzelius, Fredrik

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T2 - 26th IAVSD International Symposium on Dynamics of Vehicles on Roads and Tracks

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Liu X, Goodall R, Iwnicki S. A Direct Control Approach for Automatic Steering and Stability of Motorized Independently-Rotating Wheels. In Klomp M, Bruzelius F, Nielsen J, Hillemyr A, editors, Advances in Dynamics of Vehicles on Roads and Tracks: Proceedings of the 26th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2019. 1 ed. Springer. 2020. p. 24-30. (Lecture Notes in Mechanical Engineering). Epub 2020 Feb 13. doi: 10.1007/978-3-030-38077-9_3

A Direct Control Approach for Automatic Steering and Stability of Motorized Independently-Rotating Wheels

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