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Title: Method for controlling a vehicle with two or more independently steered wheels

Abstract

A method (10) for independently controlling each steerable drive wheel (W.sub.i) of a vehicle with two or more such wheels (W.sub.i). An instantaneous center of rotation target (ICR) and a tangential velocity target (v.sup.G) are inputs to a wheel target system (30) which sends the velocity target (v.sub.i.sup.G) and a steering angle target (.theta..sub.i.sup.G) for each drive wheel (W.sub.i) to a pseudovelocity target system (32). The pseudovelocity target system (32) determines a pseudovelocity target (v.sub.P.sup.G) which is compared to a current pseudovelocity (v.sub.P.sup.m) to determine a pseudovelocity error (.epsilon.). The steering angle targets (.theta..sup.G) and the steering angles (.theta..sup.m) are inputs to a steering angle control system (34) which outputs to the steering angle encoders (36), which measure the steering angles (.theta..sup.m). The pseudovelocity error (.epsilon.), the rate of change of the pseudovelocity error ( ), and the wheel slip between each pair of drive wheels (W.sub.i) are used to calculate intermediate control variables which, along with the steering angle targets (.theta..sup.G) are used to calculate the torque to be applied at each wheel (W.sub.i). The current distance traveled for each wheel (W.sub.i) is then calculated. The current wheel velocities (v.sup.m) and steering angle targets (.theta..sup.G) are used to calculatemore » the cumulative and instantaneous wheel slip (e, ) and the current pseudovelocity (v.sub.P.sup.m).

Inventors:
 [1];  [2]
+ Show Inventor Affiliations
  1. Oak Ridge, TN
  2. Knoxville, TN
Issue Date:
Research Org.:
Oak Ridge National Laboratory (ORNL), Oak Ridge, TN (United States)
OSTI Identifier:
869808
Patent Number(s):
5402344
Assignee:
Martin Marietta Energy Systems, Inc. (Oak Ridge, TN)
Patent Classifications (CPCs):
B - PERFORMING OPERATIONS B62 - LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS B62D - MOTOR VEHICLES
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DOE Contract Number:  
AC05-84OR21400
Resource Type:
Patent
Country of Publication:
United States
Language:
English
Subject:
method; controlling; vehicle; independently; steered; wheels; 10; steerable; drive; wheel; instantaneous; center; rotation; target; icr; tangential; velocity; inputs; 30; sends; steering; angle; theta; pseudovelocity; 32; determines; compared; current; determine; error; epsilon; targets; angles; control; 34; outputs; encoders; 36; measure; rate; change; slip; pair; calculate; intermediate; variables; torque; applied; distance; traveled; calculated; velocities; cumulative; drive wheels; control variable; control variables; drive wheel; angle encoder; /701/180/

Citation Formats

Reister, David B, and Unseren, Michael A. Method for controlling a vehicle with two or more independently steered wheels. United States: N. p., 1995. Web.
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Reister, David B, & Unseren, Michael A. Method for controlling a vehicle with two or more independently steered wheels. United States.
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Reister, David B, and Unseren, Michael A. Sun . "Method for controlling a vehicle with two or more independently steered wheels". United States. https://www.osti.gov/servlets/purl/869808.
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@article{osti_869808,
title = {Method for controlling a vehicle with two or more independently steered wheels},
author = {Reister, David B and Unseren, Michael A},
abstractNote = {A method (10) for independently controlling each steerable drive wheel (W.sub.i) of a vehicle with two or more such wheels (W.sub.i). An instantaneous center of rotation target (ICR) and a tangential velocity target (v.sup.G) are inputs to a wheel target system (30) which sends the velocity target (v.sub.i.sup.G) and a steering angle target (.theta..sub.i.sup.G) for each drive wheel (W.sub.i) to a pseudovelocity target system (32). The pseudovelocity target system (32) determines a pseudovelocity target (v.sub.P.sup.G) which is compared to a current pseudovelocity (v.sub.P.sup.m) to determine a pseudovelocity error (.epsilon.). The steering angle targets (.theta..sup.G) and the steering angles (.theta..sup.m) are inputs to a steering angle control system (34) which outputs to the steering angle encoders (36), which measure the steering angles (.theta..sup.m). The pseudovelocity error (.epsilon.), the rate of change of the pseudovelocity error ( ), and the wheel slip between each pair of drive wheels (W.sub.i) are used to calculate intermediate control variables which, along with the steering angle targets (.theta..sup.G) are used to calculate the torque to be applied at each wheel (W.sub.i). The current distance traveled for each wheel (W.sub.i) is then calculated. The current wheel velocities (v.sup.m) and steering angle targets (.theta..sup.G) are used to calculate the cumulative and instantaneous wheel slip (e, ) and the current pseudovelocity (v.sub.P.sup.m).},
doi = {},
journal = {},
number = ,
volume = ,
place = {United States},
year = {1995},
month = {1}
}
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Works referenced in this record:

Compliant-linkage kinematic design for multi-degree-of-freedom mobile robots
conference, May 1993

Dynamics and simulation of compliant motion of a manipulator
journal, April 1988

Manipulators Constrained by Stiff Contact: Dynamics, Control, and Experiments
journal, August 1990

Vehicle Lateral Velocity and Yaw Rate Control With Two Independent Control Inputs
journal, December 1992

Model Following Control of Hybrid 4WD Vehicles
journal, August 1990

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