1 / 1

Andrew Niedert , Richard Hill, and Nassif Rayess

Andrew Niedert , Richard Hill, and Nassif Rayess University of Detroit Mercy, Department of Mechanical Engineering. Control Algorithm and Software . Abstract. Multi-Body Dynamic Simulation .

marc
Download Presentation

Andrew Niedert , Richard Hill, and Nassif Rayess

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript


  1. AndrewNiedert, Richard Hill, and NassifRayess University of Detroit Mercy, Department of Mechanical Engineering Control Algorithm and Software Abstract Multi-Body Dynamic Simulation • Control algorithm is needed to translate vehicle-level commands from driver (Vx, Vy, ω) into commands to the six individual motors • Driver commands are input via a video game console that wirelessly transmits the information to a laptop on board the vehicle running LabVIEW software • This work sought to test the feasibility of a novel vehicle architecture and to develop a dynamic multi-body simulation tool to assist in the development of future iterations of such a vehicle. The vehicle design aimed to achieve high-speed capability, omni-directional mobility, and modest off-road capability via tele-operation. • Planardynamic simulation of multi-body vehicle (chassis and three pods) implemented in SimMechanics addition to Simulink, includes animation • Simulation model includes characterization of the road/tire forces (longitudinal and lateral) [2], drag force, closed-loop motor dynamics, and vehicle inertias The Vehicle LabVIEW Back Panel Motor input commands and data acquisition Wireless GamePad Control Xbox 360 controller (top side controls) • Dynamic control scheme • Necessary to assist driver in maintaining vehicle heading in the presence of disturbances and model uncertainties • Calculations are done in a body-fixed frame to remove need for an inertial sensor • Control scheme includes a kinematics-based feedforward term and a dynamic PID feedback term that closes the loop on pod angle Vehicle simulation as implemented in SimMechanics Assembled pod The vehicle in its current configuration • Each of three pods, and in turn the vehicle, is steered by differentially commanding the speed of two individual wheels • Three pods provides control authority in rough terrain • Vehicle can strafe in any direction, rotate about its center, or drive like a conventional vehicle • Slip rings allow for 360-degree pod motion relative to the vehicle chassis while maintaining an electrical connection Experimental and Simulation Data • Vehicle is challenging to drive with slip-ring friction, easy without • Simulation provides good qualitative agreement with physical data Pod Design • Active Split Offset Castor (ASOC) modules[1] achieve omni-directional mobility with reduced scrubbing • Fully independent suspension maintains road contact • Each DC wheel motor is independently controlled • Motor motion is measured by Hall-effect sensors • Pod rotation is measured by optical encoders Vehicle velocity data under straight-line motion References [1] Yu, H., Dubowsky, S., and Skwersky, A., 2004. “Omni-directional mobility using active split offset castors.” Journal of Mechanical Design, 126(5). [2] Pacejka, H., and Bakker, E., 1992. “The magic tyre formula model.” Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility, 21(1). Top View: Active Spit Offset Castor (ASOC) Design Vehicle heading data during traversal of S-course S-course employed for vehicle testing 4th Annual IEEE International Conference on Technologies for Practical Robot Applications (TePRA2012)

More Related