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Dynamic Simulation and Optimization of Rubber Suspension System of Articulated Dump Truck

Xu Zhihua,Sun Qinghong,Sun Beibei,Ma Zhu ,Li Suoyun ,Wang Huajun

Strategic Study of CAE 2005, Volume 7, Issue 9,   Pages 34-39

Abstract: technology has been used to analyze the dynamic characteristics of rubber spring suspension of AD250 articulateddump truck.

Keywords： articulated dump trucks     suspension     rubber spring     dynamics     nonlinear    

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Static balancing of planar articulated robots

Giuseppe QUAGLIA,Zhe YIN

Frontiers of Mechanical Engineering 2015, Volume 10, Issue 4,   Pages 326-343 doi: 10.1007/s11465-015-0355-9

Abstract: This paper proposes a method to design balancing devices for articulated robots in industry, based onNumerical results show that with the proper design using the methodology presented in this paper, an articulated

Keywords： robotics     static balancing     pneumatic spring     mechanical spring     torque compensation    

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Active steering control strategy for articulated vehicles Project supported by the Program Article

Kyong-il KIM,Hsin GUAN,Bo WANG,Rui GUO,Fan LIANG

Frontiers of Information Technology & Electronic Engineering 2016, Volume 17, Issue 6,   Pages 576-586 doi: 10.1631/FITEE.1500211

Abstract: To improve maneuverability and stability of articulated vehicles, we design an active steering controllersteering controller on improving maneuverability at low speed and lateral stability at high speed for the articulated

Keywords： Articulated vehicle     Sharp curve     Lateral stability     Linear quadratic regulator (LQR)    

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Fuel Cell Heavy-Duty Trucks: Application and Prospect

Xuguang Tan, Wenmiao Chen, Fengwen Pan

Engineering 2021, Volume 7, Issue 6,   Pages 728-730 doi: 10.1016/j.eng.2021.01.008

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nonlinear model predictive control based control algorithm for local trajectory planning for automated trucks Research Articles

Hong-chao Wang, Wei-wei Zhang, Xun-cheng Wu, Hao-tian Cao, Qiao-ming Gao, Su-yun Luo,17721336541@163.com,zwwsues@163.com,longxd2714@163.com,yjs_liqing@163.com,mosxsues@163.com,ly18362885604@163.com

Frontiers of Information Technology & Electronic Engineering 2020, Volume 21, Issue 7,   Pages 963-1118 doi: 10.1631/FITEE.1900185

Abstract: We present a double-layered control algorithm to plan the local trajectory for s equipped with four hub motors. The main layer of the proposed control algorithm consists of a main layer (MLN-MPC) controller and a secondary layer nonlinear MPC (SLN-MPC) controller. The MLN-MPC controller is applied to plan a dynamically feasible trajectory, and the SLN-MPC controller is designed to limit the of wheels within a stable zone to avoid the tire excessively slipping during traction. Overall, this is a closed-loop control system. Under the off-line co-simulation environments of AMESim, Simulink, dSPACE, and TruckSim, a dynamically feasible trajectory with collision avoidance operation can be generated using the proposed method, and the longitudinal wheel slip can be constrained within a stable zone so that the driving safety of the truck can be ensured under uncertain road surface conditions. In addition, the stability and robustness of the method are verified by adding a driver model to evaluate the application in the real world. Furthermore, simulation results show that there is lower computational cost compared with the conventional PID-based control method.

Keywords： Automated truck     Trajectory planning     Nonlinear model predictive control     Longitudinal slip    

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Title Author Date Type Operation

Dynamic Simulation and Optimization of Rubber Suspension System of Articulated Dump Truck

Xu Zhihua,Sun Qinghong,Sun Beibei,Ma Zhu ,Li Suoyun ,Wang Huajun

Journal Article

Static balancing of planar articulated robots

Giuseppe QUAGLIA,Zhe YIN

Journal Article

Active steering control strategy for articulated vehicles Project supported by the Program

Kyong-il KIM,Hsin GUAN,Bo WANG,Rui GUO,Fan LIANG

Journal Article

Fuel Cell Heavy-Duty Trucks: Application and Prospect

Xuguang Tan, Wenmiao Chen, Fengwen Pan

Journal Article

nonlinear model predictive control based control algorithm for local trajectory planning for automated trucks

Hong-chao Wang, Wei-wei Zhang, Xun-cheng Wu, Hao-tian Cao, Qiao-ming Gao, Su-yun Luo,17721336541@163.com,zwwsues@163.com,longxd2714@163.com,yjs_liqing@163.com,mosxsues@163.com,ly18362885604@163.com

Journal Article