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Lateral acceleration potential field function control for rollover safety of multi-wheel military vehicle with in-wheel-motors

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  • Robot and Applications
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Abstract

This article proposes an automatic longitudinal deceleration based method for multi-wheel vehicle rollover safety in autonomous mode. The information of lateral acceleration and vehicle roll angle is used to generate the longitudinal acceleration at which the vehicle will remain stable to rollover. The lateral and roll dynamics are coupled with longitudinal dynamics using a potential field function for lateral acceleration. This virtual potential field is developed on g-g diagram which represents vehicle portrait of lateral and longitudinal acceleration on abscissa and ordinate respectively. The motion of vehicle is represented by a point moving on this phase portrait of g-g diagram. TruckSim model of multi-wheel military vehicle with in-wheel motors is used with this algorithm which shows that the vehicle is less susceptible to rollover. The safe longitudinal acceleration is achieved by torque control of in-wheel motors fitted in each wheel. Using this method, the vehicle followed the desired trajectory as higher speeds which are safe. This is particularly useful for vehicle autonomous driving with rollover stability.

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Author information

Authors and Affiliations

  1. School of Mechanical and Manufacturing Engineering (SMME), NUST Islamabad Pakistan, Islamabad, Pakistan

    Mian Ashfaq Ali

  2. Department of Mechatronics Engineering, Hanyang University, Sa-3 dong, Ansan, Korea

    Junaid Iqbal & Mohammad Zuhaib Khalil

  3. Mando Corporation, Seoul, Korea

    Changjun Kim

  4. Department of Mechanical Engineering, Hanyang University, Sa-3 dong, Ansan, Korea

    Sangho Kim & Donghwan Lim

  5. Department of Mechanical Design Engineering, Hanyang University, Sa-3 dong, Ansan, Korea

    Abdul Manan Khan

  6. Department of Robot Engineering, Hanyang University, Sa-3 dong, Ansan, Korea

    Changsoo Han

Authors
  1. Mian Ashfaq Ali
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  2. Changjun Kim
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  3. Sangho Kim
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  4. Abdul Manan Khan
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  5. Junaid Iqbal
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  6. Mohammad Zuhaib Khalil
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  7. Donghwan Lim
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  8. Changsoo Han
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Corresponding author

Correspondence to Changsoo Han.

Additional information

Recommended by Editor-in-Chief Young Hoon Joo. This research was supported by the Industrial Strategic technology development program (No.10052965) funded by the Ministry of Trade, Industry and Energy(MOTIE), Korea.

Mian Ashfaq Ali received the B.S. degree in Mechanical Engineering from N.W.F.P University of Engineering and Technology Peshawar Pakistan, in 2006 and M.S. degree in Mechanical Engineering in 2010 and PhD degree in 2015 from Hanyang University. He is an Assistant Professor at School of Mechanical and Manufacturing Engineering (SMME) NUST Pakistan. His research interest are skid steering multi-axle vehicle, electric vehicle with in-wheel-motor drive, wheel dynamics and motion control of electric vehicle.

Changjun Kim received the B.S. degree in Mechanical Engineering in 2004; M.S. degree in Mechatronics Engineering in 2006; and Ph.D. degree in Mechanical Engineering from Hanyang University in 2012. He is currently doing Senior Research Engineer at Mando Global R&D Center. His research interests include active steering and active suspension system, and vehicle dynamics (independent steering, active roll stabilization, and vehicle handling).

Sangho Kim received the B.S. degree in Mechanical Engineering from Hanyang University in 2010. He is currently working toward a M.S. leading to Ph.D. degree in Mechanical Engineering at Hanyang University. His research interests include robotic vehicle, electric vehicle with inwheel motor, vehicle dynamics (independent driving and hybrid steering), and field robot (control and modeling).

Donghwan Lim received the B.S. degree in Electronic Engineering from Kyounggi University in 2010. He is currently working toward a M.S. leading to Ph.D. degree in Mechanical Engineering at Hanyang University., Republic of Korea. His research interests are in physical human-robot interaction (pHRI) based control, human-robot interaction (HRI) sensor system and powered exoskeleton robot.

Abdul Manan Khan received the B.S. and M.S. degree in Mechatronics and Control Engineering from UET Lahore Pakistan in 2007 and 2010 respectively. He received his Ph.D. Degree in Mechanical Design Engineering in 2015 from Hanyang University. His research interests include robot dynamics and control.

Junaid Iqbal received the B.E. degree in Mechanical Engineering from Quaid-e-Awam University Pakistan in 2008. He is enrolled in M.S. leading to Ph.D degree in Mechatronics Engineering at Hanyang University. His research interests include vehicle dynamics, control and estimation.

Muhammad Zuhaib Khalil received the B.S. degree in Electronics Engineering from Quaid-e-Awam University Pakistan in 2008. Currently he is enrolled in M.S. leading to Ph.D. degree in Mechatronics Engineering from Hanyang University. His research interests include multi-robot coordination control and non-holonomic systems.

Changsoo Han received the B.S. degree in Mechanical Engineering from Hanyang University in 1983, and M.S. and Ph.D. degrees in Mechanical Engineering from University of Texas at Austin in 1985, 1989, respectively. In March 1990, he joined Hanyang University, Ansan, Korea as an assistant professor in the department of mechanical engineering. Currently, he is a Professor with the department of Robot Engineering, Hanyang University. His research interests include intelligence service robot, high precision robotics and mechatronics, rehabilitation and biomechanics technology using robotics, automation in construction and advanced vehicle control.

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Ali, M.A., Kim, C., Kim, S. et al. Lateral acceleration potential field function control for rollover safety of multi-wheel military vehicle with in-wheel-motors. Int. J. Control Autom. Syst. 15, 837–847 (2017). https://doi.org/10.1007/s12555-014-0573-7

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  • DOI: https://doi.org/10.1007/s12555-014-0573-7

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