Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
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Showing 1 to 18 of 18 for “"wheel slip"”.
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Sliding Mode Controller Design for ABS System
… A controller is designed that achieves wheel-slip control for vehicle motion. The objective of this brake control system is to keep the wheel slip at an ideal value so that the tire can still generate lateral and steering forces as well as shorter stopping distances. In order to control …
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Traction and Launch Control for a Rear-Wheel-Drive Parallel-Series Plug-In Hybrid Electric Vehicle
… this thesis, a method is presented for limiting wheel slip and targeting the ideal slip ratio for dry asphalt and low friction surfaces at every given time step. A launch control system is developed to further reduce wheel slip on initial acceleration from standstill furthering acceleration rates …
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Advanced Braking Systems for Heavy Vehicles
… use of advanced emergency braking hardware and wheel slip control algorithms on pneumatically braked heavy goods vehicles. Anti-lock braking systems (ABS) on commercial heavy vehicles use inefficient control approaches that work on cycles of exceeding the limits of tyre-road adhesion. Long pipe …
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Potential use of wide tires for steep slope skidding
… and observations of machine travel time and wheel slip over defined courses. Soil compaction was evaluated by comparing soil cone penetrometer readings taken in the wheel tracks of the test lanes to those taken in undisturbed adjacent areas. Skidder lateral stability was analyzed using the …
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Using Reinforcement Learning and Bayesian Optimization on Problems in Vehicle Dynamics and Random Vibration Environmental Testing
… developed, with consideration of four different wheel-slip conditions. The transition between four state-spaces was developed as well as an integration routine to accurately integrate and switch between each of the four wheel-slip conditions. Two RL algorithms were applied to control the vehicle …
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Terrain sensing and estimation for dynamic outdoor mobile robots
… This thesis presents algorithms for estimating wheel slip and detecting robot immobilization on outdoor terrain, and for estimating traversed terrain profile and classifying terrain type. Both sets of algorithms utilize common onboard sensors. Two methods are presented for robot immobilization …
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Analysis and traction control of a rocker-bogie planetary rover
… This thesis presents an analysis of a six-wheeled prototype rover. Its design is based on the rockerbogie configuration. A procedure is presented which can rapidly compute the configuration of the rover as a function of its environment. Also, a quasi-static force analysis of the system is …
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A Novel Road Grip Estimation Method Using a Vehicle as a Probe
… (via onboard sensors). The relationship between wheel slip ratios and vehicle longitudinal acceleration, which is very similar to the relationship between wheel slip ratio and the tire longitudinal force, is used as the foundation of the estimation algorithm. Vehicle wheel speeds (used to …
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Site disturbance and machine performance from tree length skidding with a rubber-tired skidder
… skidder performance based on speed and tire slip, 2) to determine the effects of skidding on soil physical properties, and 3) to develop recommendations to minimize the impact on soil properties while maintaining skidder performance. A Franklin 170 grapple skidder was operated in second gear …
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Motor Control Systems Analysis, Design, and Optimization Strategies for a Lightweight Excavation Robot
… control system self-corrective to account for slippage upon the Martian terrain with unknown soil parameters. Then, the closed loop system will be simulated again subject to an input disturbance that would account for the undulations and inconsistencies of the Martian terrain. </p> <p>Using the …
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Optimal planning and control for hazard avoidance of front-wheel steered ground vehicles
… maneuvers for a bicycle model with front-wheel steering and wheel slip. The planning problem is posed as an optimization problem in which constrained dynamic quantities, such as friction circle utilization, are minimized, while ensuring a minimum clearance from hazards. These optimal …
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Multi-Function LIDAR Sensors for Non-Contact Speed and Track Geometry Measurement in Rail Vehicles
… current train speed measurement devices such as wheel-mounted tachometers or encoders. The ability to accurately measure train speed and distance is a critical part of monitoring track geometry conditions. Wheel-mounted tachometer speed measurements often fluctuate due to wheel vibrations, change …
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Experimental Investigation of the Tractive Performance of an Instrumented Off Road Tire in a Soft Soil Terrain
… tire and soil parameters, specifically wheel slip, normal load, inflation pres-sure, and soil compaction, as well as into the effect of combinations of such parameters on the tire and soil behavior. The results of such test data is exceedingly relevant, providing significant infor-mation …
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Development of an Intelligent Tire Based Tire - Vehicle State Estimator for Application to Global Chassis Control
… of an intelligent tire based adaptive wheel slip controller for anti-lock brake system (ABS) • Development of a piezoelectric vibration energy harvesting system with an adaptive frequency tuning mechanism for intelligent tires
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Design and development of an autonomous duct inspection and mapping robot
… These paths diverged from each other due to wheel slip caused as the robot turned. The simulation developed showed that the control algorithm would ensure that the robot recursively inspected any duct system and provided information about the system as a whole. Further work should concentrate …
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Particle Filtering and Optimal Control for Vehicles and Robots
… optimal control of vehicles, in particular four-wheeled vehicles. One topic is how to handle delayed and out-of-sequence measurements (OOSMs) in tracking systems. The motivation for this is that with technological development and exploitation of more sensors in tracking systems, OOSMs gain more …
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Modelling and control of an articulated underground mining vehicle
… the vehicle’s half-length and the inclusion of a wheel-slip factor. Dynamic modelling techniques, with a strong emphasis on tyre modelling, are also stated. In order to evaluate the modelling techniques, field tests are performed on the articulated vehicles, namely the Wright 365 LHD and the Bell …
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Development of a Heavy Truck Vehicle Dynamics Model using Trucksim and Model Based Design of ABS and ESC Controllers in Simulink
… from a commercial supplier, two air reservoirs, wheel speed sensors and pressure sensors for measuring the individual brake chamber pressures. dSPACE midsize was used to interface the vehicle model in TruckSim with the hardware components in the physical realm. The simulator converts the digital …