TY - JOUR
T1 - Nonlinear 6-DOF Dynamic Simulations for Center-Articulated Vehicles with combined CG
AU - Badar, Tabish
AU - Backman, Juha
AU - Tariq, Usama
AU - Vísala, Arto
N1 - Funding Information:
The research is funded by the Technology Industries of Finland Centennial Foundation and Jane and Aatos Erkko Foundation.
Funding Information:
The authors acknowledge the role of the Department of Electrical Engineering and Automation at Aalto University to make this research possible. Special thanks to the Technology Industries of Finland Centennial Foundation and Jane and Aatos Erkko Foundation for providing necessary funding for the AU-TOLOGGER project under The Future Makers program.
Publisher Copyright:
Copyright © 2022 The Authors.
PY - 2022/7/1
Y1 - 2022/7/1
N2 - This study highlights a combined center of gravity (CG) approach to model the comprehensive dynamics of the ground vehicles with articulated steering using solely six degrees of freedom (6-DOF). It is the case with an articulated vehicle that its CG shifts laterally towards the center of rotation during a turn. Thus, the idea is to compute the combined CG position of the multi-body articulated vehicle, which leads to the correction of the moment arms and body inertias about the updated CG position in the dynamic equations. Hence, the body forces and moments are computed with respect to the corrected CG position. In addition, the paper illustrates mathematical modeling of the center-articulated steering mechanism for the ground vehicle while restricting its operation to the primary handling regime. Overall, the draft presents the design of a nonlinear 6-DOF simulation for a load-haul-dump (LHD) type of articulated vehicle with a traveling CG. The simulation data is presented from one simulation run, where the critical results are analyzed. The obtained results signify the simplicity in using a combined CG to represent the vehicle dynamics.
AB - This study highlights a combined center of gravity (CG) approach to model the comprehensive dynamics of the ground vehicles with articulated steering using solely six degrees of freedom (6-DOF). It is the case with an articulated vehicle that its CG shifts laterally towards the center of rotation during a turn. Thus, the idea is to compute the combined CG position of the multi-body articulated vehicle, which leads to the correction of the moment arms and body inertias about the updated CG position in the dynamic equations. Hence, the body forces and moments are computed with respect to the corrected CG position. In addition, the paper illustrates mathematical modeling of the center-articulated steering mechanism for the ground vehicle while restricting its operation to the primary handling regime. Overall, the draft presents the design of a nonlinear 6-DOF simulation for a load-haul-dump (LHD) type of articulated vehicle with a traveling CG. The simulation data is presented from one simulation run, where the critical results are analyzed. The obtained results signify the simplicity in using a combined CG to represent the vehicle dynamics.
KW - Articulated steering
KW - autonomous ground vehicles
KW - multi-body ground vehicles
KW - nonlinear dynamic model
KW - vehicle modeling and simulation
UR - http://www.scopus.com/inward/record.url?scp=85142129831&partnerID=8YFLogxK
U2 - 10.1016/j.ifacol.2022.07.589
DO - 10.1016/j.ifacol.2022.07.589
M3 - Conference article
AN - SCOPUS:85142129831
VL - 55
SP - 95
EP - 100
JO - IFAC-PapersOnLine
JF - IFAC-PapersOnLine
SN - 2405-8963
IS - 14
T2 - IFAC Symposium on Intelligent Autonomous Vehicles
Y2 - 6 June 2022 through 8 June 2022
ER -