This paper is concerned with the stabilization of skid steer wheeled vehicles. This type of vehicle is often characterized by a short wheelbase and without any suspension other than that of the wheels, and is therefore liable to rotational pitch oscillations. The objective of this paper is twofold. Firstly, the abovementioned oscillation phenomena are examined with a view to improve the understanding of its dependency on weight distribution, and traction characteristics of tire-surface contact. Secondly, a number of control strategies that dampens the oscillatory nature of the vehicle are derived and evaluated. The basic idea of the control strategy is to keep the angular pitch velocity at zero by increasing the motor torque when the vehicle is tilting forward and decreasing the motor torque when the vehicle is tilting backwards. The basic control design objective being to achieve the lowest possible mean square tracking error without letting the mean square input exceed its maximally permissible value. The results are experimentally evaluated by means of a small-scale vehicle.
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ASME 2003 International Mechanical Engineering Congress and Exposition
November 15–21, 2003
Washington, DC, USA
Conference Sponsors:
- Design Engineering Division
ISBN:
0-7918-3712-2
PROCEEDINGS PAPER
Control of Oscillations in Electrically Driven Skid Steer Vehicles
Torben Ole Andersen,
Torben Ole Andersen
Aalborg University, Aalborg, Denmark
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Michael Rygaard Hansen,
Michael Rygaard Hansen
Aalborg University, Aalborg, Denmark
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Henrik Clemmensen Pedersen
Henrik Clemmensen Pedersen
Aalborg University, Aalborg, Denmark
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Torben Ole Andersen
Aalborg University, Aalborg, Denmark
Michael Rygaard Hansen
Aalborg University, Aalborg, Denmark
Henrik Clemmensen Pedersen
Aalborg University, Aalborg, Denmark
Paper No:
IMECE2003-41462, pp. 17-23; 7 pages
Published Online:
May 12, 2008
Citation
Andersen, TO, Hansen, MR, & Pedersen, HC. "Control of Oscillations in Electrically Driven Skid Steer Vehicles." Proceedings of the ASME 2003 International Mechanical Engineering Congress and Exposition. Design Engineering, Volumes 1 and 2. Washington, DC, USA. November 15–21, 2003. pp. 17-23. ASME. https://doi.org/10.1115/IMECE2003-41462
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