The Experts below are selected from a list of 15693 Experts worldwide ranked by ideXlab platform
Hiroshi Fujimoto - One of the best experts on this subject based on the ideXlab platform.
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localization of wheeled mobile robots from Slip Ratio estimation with simple model
International Conference on Mechatronics, 2021Co-Authors: Urara Kono, Hiroshi Fujimoto, Yoichi HoriAbstract:This paper proposes a localization method by estimating the Slip Ratio of wheeled mobile robots. The Slip Ratio estimator is designed based on the equations of motion. Input torque and encoders data are used, and driving force, vehicle velocity, and Slip rate are estimated. This method can estimate the robot's position accurately without visual odometry (VO) when the driving resistance is obtained. When VO is available, even if the obtained driving resistance is different from its true value, instantaneous speed observer updates the resistance and the robot's velocity. The sampling time of torque is very short, which allows us to obtain position estimation much faster than VO. The experiments were conducted with a robot on alumina balls, and the proposed methods showed improvements in the accuracy of localization compared to wheel odometry.
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driving force controller for electric vehicle considering sideSlip angle based on brush model
International Conference on Mechatronics, 2019Co-Authors: Hiroyuki Fuse, Hiroshi FujimotoAbstract:Electric vehicle (EV) has great advantages in vehicle maneuverability with the use of electric motor. As one of EV $\mathbf{s}$ motion control methods, a driving force controller with Slip Ratio limiter has been proposed. In the conventional methods, the value of Slip Ratio limiter was fixed regardless of sideSlip angle of tire. This paper proposes a variable Slip Ratio limiter considering sideSlip angle based on brush model. Driving force controller can secure traction of tire even during cornering. Not only that, it is also suggested that tire workload can be limited to desired value. Its effectiveness was experimentally verified with acceleRation cornering on Slippery road.
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Driving Force Controller with Variable Slip Ratio Limiter for Electric Vehicle Considering Lateral Slip Based on Brush Model
2019 IEEE Vehicle Power and Propulsion Conference (VPPC), 2019Co-Authors: Hiroyuki Fuse, Hiroshi FujimotoAbstract:As one of EV's motion control methods, a driving force controller (DFC) with Slip Ratio limiter has been proposed. The conventional controller has a Slip Ratio limiter for safety reason, but it did not consider lateral Slip of tire during cornering. To deal with this problem, this paper proposes a DFC with variable Slip Ratio limiter base on brush model. The experimental results show that the proposed controller can work on both acceleRation and deceleRation cornering, with increase of lateral force and lateral acceleRation for smoother cornering.
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Fundamental Study on Driving Force Control Method for Independent-Four-Wheel-Drive Electric Vehicle Considering Tire Slip Angle
IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society, 2018Co-Authors: Hiroyuki Fuse, Hiroshi FujimotoAbstract:Electric vehicle (EV) has great advantages in vehicle maneuverability using electric motor. As one of EV's motion control methods, driving force controller with Slip Ratio limiter has been proposed. In the conventional methods, Slip Ratio satuRation value was fixed so that the controller was only applicable for going on straight. To make it usable for cornering as well, this paper proposed a variable Slip Ratio satuRation method considering tire Slip angle. Its effectiveness was verified by simulations and experiments on acceleRation cornering close to tire's limit. The result shows a reduction of overall tire Slip, and required steering angle was reduced by 20% at most for the same vehicle trajectory.
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Slip Ratio control using load side high resolution encoder for in wheel motor with reduction gear
International Conference on Mechatronics, 2017Co-Authors: Tomoki Enmei, Hiroshi Fujimoto, Yoichi Hori, Daisuke Gunji, Kenji OmataAbstract:Electric vehicles have recently attracted broad attention. Advantage of Electric Vehicles is not only environmental performance but also higher response vehicle motion control when compared to internal combustion engine vehicle. In order to improve motion control performance of Electric Vehicles, applying high-resolution encoders both on a motor side and a wheel side is a good solution. In this paper, the design of the actual vehicle unit for experimental electric vehicle FPEV4-Sawyer is explained. Furthermore, the effectiveness of using high-resolution encoder on vehicle motion control methods is discussed with simulations and experiments of Slip Ratio control.
K W E Cheng - One of the best experts on this subject based on the ideXlab platform.
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fuzzy sliding mode wheel Slip Ratio control for smart vehicle anti lock braking system
Energies, 2019Co-Authors: Jinhong Sun, Xd Xue, K W E ChengAbstract:With the development of in-wheel technology (IWT), the design of the electric vehicles (EV) is getting much improved. The anti-lock braking system (ABS), which is a safety benchmark for automotive braking, is particularly important. Installing the braking motor at each fixed position of the wheel improves the intelligent control of each wheel. The nonlinear ABS with robustness performance is highly needed during the vehicle’s braking. The anti-lock braking controller (CAB) designed in this paper considered the well-known adhesion force, the resistance force from air and the wheel rolling friction force, which bring the vehicle model closer to the real situation. A sliding mode wheel Slip Ratio controller (SMWSC) is proposed to yield anti-lock control of wheels with an adaptive sliding surface. The vehicle dynamics model is established and simulated with consideRation of different initial braking velocities, different vehicle masses and different road conditions. By comparing the braking effects with various CAB parameters, including stop distance, braking torque and wheel Slip Ratio, the SMWSC proposed in this paper has superior fast convergence and stability characteristics. Moreover, this SMWSC also has an added road-detection module, which makes the proposed braking controller more intelligent. In addition, the important brain of this proposed ABS controller is the control algorithm, which can be used in all vehicles’ ABS controller design.
Jinhong Sun - One of the best experts on this subject based on the ideXlab platform.
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fuzzy sliding mode wheel Slip Ratio control for smart vehicle anti lock braking system
Energies, 2019Co-Authors: Jinhong Sun, Xd Xue, K W E ChengAbstract:With the development of in-wheel technology (IWT), the design of the electric vehicles (EV) is getting much improved. The anti-lock braking system (ABS), which is a safety benchmark for automotive braking, is particularly important. Installing the braking motor at each fixed position of the wheel improves the intelligent control of each wheel. The nonlinear ABS with robustness performance is highly needed during the vehicle’s braking. The anti-lock braking controller (CAB) designed in this paper considered the well-known adhesion force, the resistance force from air and the wheel rolling friction force, which bring the vehicle model closer to the real situation. A sliding mode wheel Slip Ratio controller (SMWSC) is proposed to yield anti-lock control of wheels with an adaptive sliding surface. The vehicle dynamics model is established and simulated with consideRation of different initial braking velocities, different vehicle masses and different road conditions. By comparing the braking effects with various CAB parameters, including stop distance, braking torque and wheel Slip Ratio, the SMWSC proposed in this paper has superior fast convergence and stability characteristics. Moreover, this SMWSC also has an added road-detection module, which makes the proposed braking controller more intelligent. In addition, the important brain of this proposed ABS controller is the control algorithm, which can be used in all vehicles’ ABS controller design.
Liqiang Jin - One of the best experts on this subject based on the ideXlab platform.
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tire road friction estimation and traction control strategy for motorized electric vehicle
PLOS ONE, 2017Co-Authors: Liqiang Jin, Mingze Ling, Weiqiang YueAbstract:In this paper, an optimal longitudinal Slip Ratio system for real-time identification of electric vehicle (EV) with motored wheels is proposed based on the adhesion between tire and road surface. First and foremost, the optimal longitudinal Slip rate torque control can be identified in real time by calculating the derivative and Slip rate of the adhesion coefficient. Secondly, the vehicle speed estimation method is also brought. Thirdly, an ideal vehicle simulation model is proposed to verify the algorithm with simulation, and we find that the Slip Ratio corresponds to the detection of the adhesion limit in real time. Finally, the proposed strategy is applied to traction control system (TCS). The results showed that the method can effectively identify the state of wheel and calculate the optimal Slip Ratio without wheel speed sensor; in the meantime, it can improve the accelerated stability of electric vehicle with traction control system (TCS).
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a study of coordinated vehicle traction control system based on optimal Slip Ratio algorithm
Mathematical Problems in Engineering, 2016Co-Authors: Gang Liu, Liqiang JinAbstract:Under complicated situations, such as the low Slippery road surface and split- road surface, traction control system is the key issue to improve the performance of vehicle acceleRation and stability. In this paper, a novel control strategy with engine controller and active pressure controller is presented. First and foremost, an ideal vehicle model is proposed for simulation; then a method for the calculation of optimal Slip Ratio is also brought. Finally, the scheme of control method with engine controller and active brake controller is presented. From the results of simulation and road tests, it can be concluded that the acceleRation performance and stability of a vehicle equipped with traction control system (TCS) can be improved.
Weiqiang Yue - One of the best experts on this subject based on the ideXlab platform.
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tire road friction estimation and traction control strategy for motorized electric vehicle
PLOS ONE, 2017Co-Authors: Liqiang Jin, Mingze Ling, Weiqiang YueAbstract:In this paper, an optimal longitudinal Slip Ratio system for real-time identification of electric vehicle (EV) with motored wheels is proposed based on the adhesion between tire and road surface. First and foremost, the optimal longitudinal Slip rate torque control can be identified in real time by calculating the derivative and Slip rate of the adhesion coefficient. Secondly, the vehicle speed estimation method is also brought. Thirdly, an ideal vehicle simulation model is proposed to verify the algorithm with simulation, and we find that the Slip Ratio corresponds to the detection of the adhesion limit in real time. Finally, the proposed strategy is applied to traction control system (TCS). The results showed that the method can effectively identify the state of wheel and calculate the optimal Slip Ratio without wheel speed sensor; in the meantime, it can improve the accelerated stability of electric vehicle with traction control system (TCS).
