A study of the active steering control on the driven wheel of an autonomous three-wheeler for limited turnings at low speeds
碩士 === 國立中興大學 === 生物產業機電工程學系所 === 100 === To reduce toeing out and the radius of gyration of a front wheel drive vehicle maneuvering through tight corners at low speeds, this thesis evaluated the dimensions of traction machines and designed the prototype of an autonomous three-wheeler with a fou...
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ndltd-TW-100NCHU54150042016-10-23T04:11:28Z http://ndltd.ncl.edu.tw/handle/96303077407878918554 A study of the active steering control on the driven wheel of an autonomous three-wheeler for limited turnings at low speeds 三輪式無人載具低速時第三輪轉向匹配控制之研究 Chien-Hsing Hsu 許健興 碩士 國立中興大學 生物產業機電工程學系所 100 To reduce toeing out and the radius of gyration of a front wheel drive vehicle maneuvering through tight corners at low speeds, this thesis evaluated the dimensions of traction machines and designed the prototype of an autonomous three-wheeler with a four-bar equal-crank linkage steering mechanism for the front wheels and an active controlled driven rear wheel for overturning avoidance. The model of the synchronous gyration center of the wheels was proposed. A PID controller was then installed on the rear driven wheel with which allows the rear wheels to turn in the opposite direction when the front wheels are turning and results in a quicker and more efficient turning. The Freudenstein''s equation was employed to determine the optimal dimensions for the four-bar linkage mechanism of the prototype, too. The final results indicate that the radius of gyration of a three-wheeler set up with the theoretical dimensions, can be reduced by 19% to 29% and the undercutting of the rear wheels can also be prevented. Established and simulated on Solidworks, the proposed model was validated. Tse-Min Chen 陳澤民 2012 學位論文 ; thesis 52 zh-TW |
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zh-TW |
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碩士 === 國立中興大學 === 生物產業機電工程學系所 === 100 === To reduce toeing out and the radius of gyration of a front wheel drive vehicle maneuvering through tight corners at low speeds, this thesis evaluated the dimensions of traction machines and designed the prototype of an autonomous three-wheeler with a four-bar equal-crank linkage steering mechanism for the front wheels and an active controlled driven rear wheel for overturning avoidance. The model of the synchronous gyration center of the wheels was proposed. A PID controller was then installed on the rear driven wheel with which allows the rear wheels to turn in the opposite direction when the front wheels are turning and results in a quicker and more efficient turning. The Freudenstein''s equation was employed to determine the optimal dimensions for the four-bar linkage mechanism of the prototype, too.
The final results indicate that the radius of gyration of a three-wheeler set up with the theoretical dimensions, can be reduced by 19% to 29% and the undercutting of the rear wheels can also be prevented. Established and simulated on Solidworks, the proposed model was validated.
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author2 |
Tse-Min Chen |
author_facet |
Tse-Min Chen Chien-Hsing Hsu 許健興 |
author |
Chien-Hsing Hsu 許健興 |
spellingShingle |
Chien-Hsing Hsu 許健興 A study of the active steering control on the driven wheel of an autonomous three-wheeler for limited turnings at low speeds |
author_sort |
Chien-Hsing Hsu |
title |
A study of the active steering control on the driven wheel of an autonomous three-wheeler for limited turnings at low speeds |
title_short |
A study of the active steering control on the driven wheel of an autonomous three-wheeler for limited turnings at low speeds |
title_full |
A study of the active steering control on the driven wheel of an autonomous three-wheeler for limited turnings at low speeds |
title_fullStr |
A study of the active steering control on the driven wheel of an autonomous three-wheeler for limited turnings at low speeds |
title_full_unstemmed |
A study of the active steering control on the driven wheel of an autonomous three-wheeler for limited turnings at low speeds |
title_sort |
study of the active steering control on the driven wheel of an autonomous three-wheeler for limited turnings at low speeds |
publishDate |
2012 |
url |
http://ndltd.ncl.edu.tw/handle/96303077407878918554 |
work_keys_str_mv |
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