Umfang:
1 Online-Ressource (144 Seiten)
ISBN:
9781681732527
Serie:
Synthesis Lectures on Advances in Automotive Technology #2
Inhalt:
Intro -- Preface -- Unmanned Ground Vehicles: An Introduction -- 1.1 Basic Introduction to the UGV -- 1.1.1 What is a UGV? -- 1.1.2 Example of UGVs Developed by Stanford University and Beijing Institute of Technology -- 1.1.3 Basic Application of the UGV in Civilian and Military Fields -- 1.2 The Brief Development History of the Military UGV -- 1.2.1 Light-Class Military Robots -- 1.2.2 Military Heavy-Class UGVs based on Modification -- 1.3 The Development of the X-by-Wire Military UGV -- 1.3.1 The Six-wheeled Skid-Steered X-by-Wire UGV -- 1.3.2 A Six-wheeled UGV Developed by the Authors -- 1.3.3 The Four-wheeled X-by-wire UGV -- Design of a Full X-by-Wire UGV-Unmanned Ground Carrier -- 2.1 Serval Classic X-by-Wire Testbeds in Passenger Car Field -- 2.2 Overall Concept of the Unmanned Ground Carrier -- 2.2.1 The Proposal of the Overall Concept -- 2.2.2 The Social Activities of the UGC -- 2.2.3 The Advantages of the UGC Compared to Previous Four-wheeled UGVs -- 2.3 Overall Design of the Unmanned Ground Carrier -- 2.3.1 Overview of the UGC -- 2.3.2 The Hardware Configuration and the Signal Flow of the UGC -- 2.4 Design of the High-Voltage Battery Pack and the In-wheel Motor Driven System -- 2.4.1 Design of the High-Voltage and High-Power Density LiFePO4 Battery Pack -- 2.4.2 Design of the Compact In-wheel Motor-Driven System and Performance Evaluation -- 2.5 Design of the Independent Steer and the Double Wishbone Suspension Systems -- 2.5.1 Design of the Independent Steer System -- 2.5.2 Four Steer Modes of the Mother Vehicle -- 2.5.3 Design of the Double Wishbone Suspension -- 2.6 Design of the Mechanisms for Carrier-based Robots or Rotorcrafts -- 2.6.1 Design of the Mechanisms for Sending Out or Taking Back the Robot -- 2.6.2 Design of the Mechanisms for Landing and Stabilizing the Rotorcrafts
Inhalt:
Advanced Chassis Dynamics Control of the Unmanned Ground Carrier -- 3.1 The Application of Control Configured Vehicle (CCV) Concept -- 3.1.1 Basic Concept of CCV -- 3.1.2 The Hardware Configuration Problem of the UGC without CCV -- 3.1.3 The Hardware Configuration of the UGC under CCV -- 3.2 Overall Chassis Dynamics Control Architecture -- 3.3 Control-Oriented Uncertain Vehicle Lateral Dynamics Model -- 3.3.1 Basic 2-DoFs Vehicle Lateral Dynamics Model -- 3.3.2 Involvement of the Unmodeled Uncertainties and Disturbances -- 3.4 Chassis Robust Yaw Moment Control in High-Speed Conditions -- 3.4.1 Definition of the Target Closed-looped Poles Locations -- 3.4.2 Design of the Robust Pole Assignment Controller -- 3.5 Chassis Robust Yaw Moment Control in DMSM -- 3.5.1 Control Objective Definition in DMSM -- 3.5.2 Design of the Robust H Infinity Yaw Moment Controller in DMSM -- 3.6 Robust Chassis Control with Consideration of Time Delay -- 3.6.1 Description of the Time Delay of the Control System -- 3.6.2 Design of the Robust Controller Considering the Time Delay -- 3.7 Tire Forces Distribution and Tire Slip Ratio Control -- 3.7.1 Tire Forces Distribution based on Tire Vertical Load -- 3.7.2 Sliding Mode Tire Slip Ratio Control -- 3.8 A Nonlinear Tire Model for Tire Behavior Estimation -- 3.8.1 The Contact Pressure Distribution Assumption -- 3.8.2 Calculation of the Tire Acting Longitudinal and Lateral Force -- Performance Test and Evaluation of the Unmanned Ground Carrier -- 4.1 Basic Performance Test and Endurance Performance Evaluation in Field Environments -- 4.1.1 A Basic Test for the UGCâThe Mission to Find a Target in the Narrow Space -- 4.1.2 The Endurance Experiments in the Field Environments -- 4.1.3 The Test of the Mechanisms to Send Out and Take Back the Robot/Rotorcrafts -- 4.2 Acceleration and Tire Force Distribution Performance Evaluation
Inhalt:
4.2.1 The Acceleration Experiments on Pavement Road -- 4.2.2 The Acceleration Experiments on Off Road -- 4.3 Chassis Yaw Moment Control Performance Evaluation -- 4.3.1 Yaw Moment Control Experiment in ASM on Pavement Road -- 4.3.2 Yaw Moment Control Experiment in ASM on Off Road -- 4.4 Tire Slip Ratio Control and ZRSM Performance Evaluation -- References -- Author Biographies -- Blank Page
Weitere Ausg.:
ISBN 9781681732510
Weitere Ausg.:
ISBN 9781681732534
Weitere Ausg.:
Erscheint auch als Druck-Ausgabe ISBN 9783031000010
Weitere Ausg.:
Erscheint auch als Druck-Ausgabe ISBN 9783031003684
Weitere Ausg.:
Erscheint auch als Druck-Ausgabe ISBN 9783031026249
Sprache:
Englisch
DOI:
10.1007/978-3-031-01496-3
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