Nonlinear 6-DOF Dynamic Simulations for Center-Articulated Vehicles with combined CG

Tabish Badar*, Juha Backman, Usama Tariq, Arto Vísala

*Tämän työn vastaava kirjoittaja

Tutkimustuotos: LehtiartikkeliConference articleScientificvertaisarvioitu

3 Sitaatiot (Scopus)
70 Lataukset (Pure)

Abstrakti

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.

AlkuperäiskieliEnglanti
Sivut95-100
Sivumäärä6
JulkaisuIFAC-PapersOnLine
Vuosikerta55
Numero14
DOI - pysyväislinkit
TilaJulkaistu - 1 heinäk. 2022
OKM-julkaisutyyppiA4 Artikkeli konferenssijulkaisussa
TapahtumaIFAC Symposium on Intelligent Autonomous Vehicles - Prague, Tshekki
Kesto: 6 kesäk. 20228 kesäk. 2022

Sormenjälki

Sukella tutkimusaiheisiin 'Nonlinear 6-DOF Dynamic Simulations for Center-Articulated Vehicles with combined CG'. Ne muodostavat yhdessä ainutlaatuisen sormenjäljen.

Siteeraa tätä