Sökning: "4WS"

Hittade 4 uppsatser innehållade ordet 4WS.

1. 1. Research and Analysis of Suspension Dynamics of an Autonomous Bidirectional Road Vehicle

   Master-uppsats, KTH/Väg- och spårfordon samt konceptuell fordonsdesign

   Författare :Isabelle Gürsac; Tsimafei Klimantovich; [2023]
   Nyckelord :Bidirectional vehicle; 4WS; 4WD; suspension angles; kingpin inclination; camber angle; caster angle; toe angle; relative importance; suspension setup; suspension system; drivetrain; efficiency.; Dubbelriktat fordon; fyrhjulsstyrning; fyrhjulsdrift; hjulvinklar; Kingpin-lutningsvinkel; cambervinkel; castervinkel; toevinkel; relativ betydelse; fjädringsinställning; hjulupphängningssystem; drivlina; effektivitet.;

   Sammanfattning : The bidirectionality of road vehicles is a novel research area, which is directly connected with autonomy, efficiency, flexibility and sustainability of transportation. The research in this area is mostly performed with stringent restrictions in corporate secrecy. This fact makes the area publicly unexplored, moreover highly future oriented. LÄS MER

3. 2. Control of an Over-Actuated Vehicle for Autonomous Driving and Energy Optimization : Development of a cascade controller to solve the control allocation problem in real-time on an autonomous driving vehicle

   Master-uppsats, KTH/Skolan för elektroteknik och datavetenskap (EECS)

   Författare :Gianmarco Grandi; [2023]
   Nyckelord :LTV-MPC Linear Time-Varying Model Predictive Controller ; Trajectory following; Energy consumption; Vehicle stability; Vehicle model; Real-time performance; LTV-MPC Controllo a predizione del modello lineare tempo variabile ; Inseguimento di traiettoria; Consumo energetico; Stabilità del veicolo; Modello del veicolo; Prestazioni in tempo reale; LTV-MPC Linjär tidsvariabel modellförutsägande styrning ; spårföljning; energiförbrukning; fordonsstabilitet; fordonsmodell; prestanda i realtid;

   Sammanfattning : An Over-Actuated (OA) vehicle is a system that presents more control variables than degrees of freedom. Therefore, more than one configuration of the control input can drive the system to a desired state in the state space, and this redundancy can be exploited to fulfill other tasks or solve further problems. LÄS MER

4. 3. Design and Analysis of Electric Over-actuated Vehicle Suspension

   Master-uppsats, KTH/Skolan för industriell teknik och management (ITM)

   Författare :Ankith Suresh Athrey; [2020]
   Nyckelord :RCV; ITRL; MBD; CAD; FEM; RCV; ITRL; MBD; CAD; FEM;

   Sammanfattning : The main aim of this master thesis is to improve the performance of the Research Concept Vehicle (RCV). The RCV is an electric over-actuated vehicle developed at Integrated Transport Research Lab (ITRL) at KTH Royal Institute of Technology. The vehicle steer, camber, drive, and brake on each wheel of the vehicle. LÄS MER

5. 4. Trajectory Planning for Four WheelSteering Autonomous Vehicle

   Master-uppsats, KTH/Fordonsdynamik

   Författare :Zexu Wang; [2018]
   Nyckelord :trajectory planning; frenet frame; MPC; 4WS; banplanering; Frenet-ram; MPC; 4WS ii;

   Sammanfattning : This thesis work presents a model predictive control (MPC) based trajectory planner forhigh speed lane change and low speed parking scenarios of autonomous four wheel steering(4WS) vehicle. A four wheel steering vehicle has better low speed maneuverabilityand high speed stability compared with normal front wheel steering(FWS) vehicles. LÄS MER