Zhurong Dong

Parameterisation analysis for a four in-wheel-motors drive and four wheels independent steering electric vehicle based on multi-body inverse kinematics

In this paper, a kinematics model with 14 degrees of freedom (DOF) is built for a four in-wheel-motors drive and four wheels independent steering electric vehicle based on the multi-body dynamics theory and modelling integration method. Considering the slippage control of wheels, the optimal speeds for the individual wheel and the optimal steering angles can be obtained for the desired trajectory through inverse kinematics analysis of the model. A typical case has been simulated and the useful driving parameterisation analysis for the vehicle can be obtained. The results of this paper can provide the basic and standard data for the coordination control among four driven in-wheel-motors and four all wheels independent steering motors according to the desired curve motion and will be validated by future test data results.

Trajectory Planning of Space Robot System for Reorientation After Capturing Target Based on Particle Swarm Optimization Algorithm

A typical servicing operation in space mainly includes three phases: capturing the target, re-orientating of the whole system with the target, and repairing the target. The attitude of a satellite usually changes after the capturing, because the control system is turned off during this phase for safety reasons. In this paper, a method is proposed to achieve re-orientating the space robot system, planning the manipulator configuration and spacecraft orientation at the same time. Firstly, angular momentum preloaded in the manipulator will provide a favorable condition for the capturing and reorientation after capturing, so the manipulator moves with some initial velocity after capturing. The constraints on the manipulator and the objective function are defined according to the planning problem. Then the joint trajectory is parameterized by sinusoidal function, whose argument is the polynomial. Finally, particle swarm optimization (PSO) is used to search for the global optimal resolution of the parameters. When the parameters are found, each joint trajectory can be determined. This planned trajectory is smooth and more applicable for the control of the free-floating robotic system.

A novel control method for electric power steering system based on dead-zone inverse transforming compensation in a four-in-wheel-motor drive electric vehicle

Since the four-in-wheel-motors drive (FWMD) Electric Vehicle (EV) has a 4-wheel independent steering, this paper presents a novel control method for an electric power steering system with a dead-zone execution mechanism. A mathematical model was derived for execution mechanisms from the empirical data. A “Dead-zone Inverse Transforming Compensation” was designed to eliminate ill effects caused by dead-zone. The experiment in a real car environment proves that the proposed method.

The Design and Realization of the Angular Acceleration Detecting Channel for Auto-transmission Based on the Labview and Newton Interpolation Method

This paper introduces the design of angular acceleration detecting channel for the outputting shaft of auto-transmission. The article introduces the principle of speed detection and designs corresponding signal processing circuit. It also introduces the Newton interpolation method and basing on the method, derives the expression of angle acceleration. This paper explains how to design labview programme to calculate angle acceleration by the Newton interpolation method. also, it collects experimental data to analyze the algorithm compared with the calculated results of matlab, then validate the correctness of the algorithm.