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The maneuvering time on the ground accounts for 10%–30% of their flight time, and it always exceeds 50% for short-haul aircraft when the ground traffic is congested. Aircraft also contribute significantly to emissions, fuel burn, and noise when taxiing on the ground at airports. There is an urgent need to reduce aircraft taxiing time on the ground. However, it is too expensive for airports and aircraft carriers to build and maintain more runways, and it is space-limited to tow the aircraft fast using tractors. Autonomous drive capability is currently the best solution for aircraft, which can save the maneuver time for aircraft. An idea is proposed that the wheels are driven by APU-powered (auxiliary power unit) motors, APU is working on its efficient point; consequently, the emissions, fuel burn, and noise will be reduced significantly. For Front-wheel drive aircraft, the front wheel must provide longitudinal force to tow the plane forward and lateral force to help the aircraft make a turn. Forward traction effects the aircraft’s maximum turning ability, which is difficult to be modeled to guide the controller design. Deep reinforcement learning provides a powerful tool to help us design controllers for black-box models; however, the models of related works are always simplified, fixed, or not easily modified, but that is what we care about most. Only with complex models can the trained controller be intelligent. High-fidelity models that can easily modified are necessary for aircraft ground maneuver controller design. This paper focuses on the maneuvering problem of front-wheel drive aircraft, a high-fidelity aircraft taxiing dynamic model is established, including the 6-DOF airframe, landing gears, and nonlinear tire force model. A deep reinforcement learning based controller was designed to improve the maneuver performance of front-wheel drive aircraft. It is proved that in some conditions, the DRL based controller outperformed conventional look-ahead controllers.

This paper presents an active differential control system to improve handling and acceleration performance. Conventional front-wheel-drive cars have certain disadvantages including a lack of acceleration and excessive understeer during acceleration in turn. To address this problem, we propose understeer prevention logic. First, for a rapid response, the driving torque is distributed in advance to the inner and outer wheels according to the magnitude of the estimated traction potential in the wheels. If wheel spin occurs, then additional driving torque is transmitted to the outer wheel in proportion to the increment of the inner wheel speed versus the outer wheel. However, the torque transfer to the outer wheel is limited in proportion to the excess speed of the outer wheel compared with the non-driving wheel to prevent power slides. Oversteer prevention logic can improve yaw damping. The algorithm transmits driving torque from the outer wheel to the inner wheel in proportion to the yaw rate that exceeds the target. This algorithm was then evaluated via vehicle tests. The electronic limited slip differential with the proposed algorithm was applied to mass production, and it received positive feedback from international media.

Multivariate intelligent simulation of engineering phenomena can be a supportive manner for integrated realization of compound patterns of involved parameters. This paper was aimed to scrutinize power consumption efficiency of mechanical front wheel drive (MFWD) tractor during tillage process by means of an artificial intelligence system (intelligent fuzzy system). The system was developed by various numbers and types of input membership functions, defuzzification methods, types of output membership functions, and the numbers of training cycles. Promising performance of the prominent system guaranteed its reliability for simulation of tractor power consumption efficiency on the basis of operational variables of tillage depth (10–30 cm), speed (2–6 km/h), and tractor driving modes (two-wheel drive (2WD) and four-wheel drive (4WD)). The simulation results demonstrated a pattern of increasing nonlinear variations of the power consumption efficiency versus proliferation of tillage depth and speed for both tractor driving modes. However, the power consumption efficiency simulated in a range of 25.87–42.29% was slightly higher for the 2WD than the 4WD mode, in tested ranges of tillage depths and speeds. Taking the power consumption efficiency components (power transmission, slip, motion, and drawbar power consumption efficiency) into consideration, it was elucidated that a major portion of power produced by the tractor engine was wasted over unconsumed drawbar pull followed by slip of driving wheels. The developed intelligent fuzzy system improved exhaustive comprehension of the phenomenon.

Twist beam rear suspension systems are frequently used in front wheel drive cars owing to their compactness, lightweight and cost-efficiency. Since the kinematic behavior of twist beam rear suspension systems are determined by the elastic properties of the twist beam, the twist beam is the most critical component of this suspension system. In the study, a simplified optimization model is presented to offer designers the most suitable beam structure in the early stage of the vehicle system development. With the optimization model, designers will be able to obtain the most suitable twist beam structure in a very short time. Opposite wheel travel analysis based on finite element modeling of twist beam is conducted to examine the kinematic performance of the twist beam rear suspension. The cross-section, position and direction of the twist beam are the most important parameters affecting the performance of the twist beam rear suspension system. In this study, optimization studies with 25 design variables including variable cross-sections, twist beam position and twist beam orientation are performed. Nine different optimization studies are carried out to investigate the effects of design variables better. In optimization studies carried out with the genetic algorithm, the objective and constraint functions are obtained with the moving least squares meta-modeling method. In the study, toe angle, camber angle and roll steer are decided as constraints, and mass as the objective function. With the optimization models, lightweight designs up to 25% have been obtained according to the initial design. It is validated that the proposed simplified model and analysis of twist beam rear suspension with connecting bushing is a quite efficient approach in terms of accuracy and to speed up the optimum design process.

In this paper, we propose a model for eco-driving that considers cornering effects. The proposed model purely relies on the geometric configuration of the vehicle and road. Consequently, we propose an eco-driving optimal control problem formulation that is suitable for both straight and curved trajectories in urban scenarios. Moreover, it can be applied for vehicles with front wheel drive (FWD) or rear wheel drive (RWD). We use a case study for an electric vehicle executing cornering maneuvers to validate the proposed approach and highlight its advantages with respect to traditional eco-driving formulations. Results show an approximated improvement of 8% in energy savings with respect to traditional eco-driving strategies, especially in trajectories with large curvatures.

This paper proposes a calculator for estimation of drawbar pull supplied by mechanical front wheel drive tractor based on nominal input variable of tractor driving mode in two-wheel drive (2WD) and four-wheel drive (4WD), and numeral input variables of tractor weight (53.04–78.45 kN) and slip of driving wheels (1.4–15.1%) utilizing intelligent fuzzy systems. The systems were developed by means of various input membership functions, output membership functions, defuzzification methods, and training cycles. The prominent developed system for estimation of the drawbar pull yielded a user-friendly intelligent fuzzy calculator with admissible accuracy (coefficient of determination = 0.993). Data obtained from the calculator revealed increasing nonlinear trend of the drawbar pull in range of 12.9–57.5 kN as concurrent augment of slip of the wheels and tractor weight, for 2WD mode. In case of the 4WD mode, it nonlinearly raised from 12.8 to 77.7 kN. Therefore, effect of the slip and weight on the drawbar pull was found synergetic. Moreover, the drawbar pull ranges elucidated that the drawbar pull proliferated as the 4WD mode was employed rather than the 2WD mode. Generally, benchmark of the prominent developed intelligent fuzzy system, not only provide simple calculator with the widest applicability for different tractor models, but also produces added values in enrichment of realization level in domain of tractor drawbar pull concepts.

Modern motorcycles are evolving more and more towards complex systems by the increasing integration of mechanical, electrical and control disciplines. All-wheel drive (AWD) vehicles have proven effective to improve vehicle's performances and rider's safety. Despite this, manufacturers have developed few AWD motorcycles and little research has been devoted to them. Obvious difficulties concern torque distribution to the front wheel because of steering system. Nowadays, the integration of technologies eases the implementation of front wheel drive opening new research perspectives. In this work, the dynamic model of an AWD motorcycle with an attached rider is proposed. It represents the first symbolic analysis investigating the effects of front wheel traction on the dynamics of a motorcycle for supporting the design of AWD motorcycles reducing trials and tests on prototypes. The proposed model is parametric with respect to the motorcycle geometry, and it allows to simulate complex operating modes of the AWD, such as cornering phenomena, taking into account coupling of lateral and longitudinal dynamics and tire-road interactions. Unlike other works, here the authors include a full tire model by exploiting theoretical slips of the brush model for tire's aligning moment too, instead of applying a totally empirical representation less suitable for a complete symbolic description. Besides, to simulate the equations of motion, the benefits and disadvantages of using AWD with torque distribution have been pointed out introducing a new handling ratio. Two verification procedures validate the model: one is performed theoretically, the other carries out a comparison with a multibody software, whose model is more sophisticated, this latter embeds all main motorcycle's dynamics. Although radically different, being the first theoretical and the second numerical-computational, both methods exhibit consistent behavior between them, and effectiveness of the former is also consistent with the results of a multibody simulator under the assumptions made.

Energy recovery by means of braking with the electric machine helps to extend the cruising range of electric vehicles. By optimising the recuperation system, the total energy efficiency is increased. In general, using a usual brake force distribution the capability for recuperation is not equal for every type of drive train. Usually, four-wheel drives are advantageous in comparison to drive trains with only one driven axle. Regarding the single drives, generally, a front-wheel drive provides a higher capability for recuperation than a rear-wheel drive. This is mainly due to the dynamic axle load shift, which occurs during decelerations. In order to increase the energy recovery of electric vehicles with single drive, an adaptive brake force distribution is presented and compared with other brake force distributions in this study. It uses the knowledge of the currently available adhesion coefficient between tyre and road. The positive effect on the recuperation without impairing the braking performance on a straight road is demonstrated based on simulations. In curves, the lateral forces additionally need to be considered to guarantee the stability of the vehicle, especially relating to electric vehicles having a rear-wheel drive.

This research investigates a robust differential steering control system (DSCS) for an independent four wheel drive electric vehicle (EV). The DSCS will maneuver the independently actuated (IA) four wheel drive EV without the help of any conventional steering mechanism (CSM) via the input torque of the four wheels. The differential angular rotation speed between left and right wheels is used to generate the CSM effects. The DSCS is designed using the linear model of the vehicle with linear tire dynamics and is tested in simulations using a nonlinear vehicle model with nonlinear tire dynamics. The proposed DSCS is a combination of forward speed and yaw rate controllers, designed using the robust H∞ control methodology. The effectiveness of the proposed robust controller is analyzed by comparing the performance of the all-wheel drive (AWD), the rear wheel drive (RWD), and the front wheel drive (FWD) vehicles during simulations. The simulations results indicates that the proposed system can successfully maneuver the vehicle under different driving conditions by tracking the desired parameters without the use of any CSM.

The topic of this paper is the bigger picture of vehicle dynamics and handling characteristics of cars, with a focus on driving safety. More specifically, the directional stability gain obtained using the semi-active differential (DSLD) is experimentally verified in transient steering maneuvers using a prototype in a FWD Saab 9-3 Aero.

Beyond the well-known benefits of electric and hybrid powertrains in terms of environmental impact, the peculiar torque curve of electric motors for automotive applications offers extensive opportunities for improved vehicle dynamics control, such as yaw moment control through the application of different tractive forces across the axle: the so-called Torque Vectoring [1]. This is made possible for instance by fitting an independent motor on each wheel of a drive axle.

Most previous researches indicate that about 20–55% of available tractor power is lost in the process of interaction between tires and soil surface. Vertical wheel loads and tire performance are parameters that play a significant role in controlling slip and fuel consumption of a tractor. Tractor’s slip is adjusted by attaching additional weights and/or reducing tire pressures, and this may have an impact on driving lead of front wheels. Mechanical Front-Wheel-Drive (MFWD) tractors work efficiently when driving lead of front wheels is 3–4% in soft soil and 1–2% in hard soil. This research was aimed to experimentally determine such tire pressures that allow adjusting tractor’s slip without deviating from set value of driving lead of front wheels. The research was also aimed to determine the effect of driving lead of front wheels on MFWD tractor’s slip and fuel consumption. Experimental results showed that front/rear tire pressure combinations that generate a well-targeted driving lead of front wheels have no effect on slip on hard soil; however, it significantly affect fuel consumption. Results show that when air pressures in front/rear tires varied within 80–220 kPa, driving lead of front wheels varied in the range from +7.25% to −0.5%.

In this study the lateral control of an automated vehicle is analysed with the help of a single-track model while subject to a hierarchical control algorithm. At the higher-level we command the steering angle based on the vehicle’s relative position and orientation to the desired path, while the lower-level controller tries to achieve this angle by adjusting the steering torque. The stability of the straight-line motion is investigated by incorporating time delays at both control levels. We demonstrate that the two control algorithms can be designed independently from each other. Moreover, we show that the stability of the lower-level controller is highly sensitive to the delay, that is, to ensure stability very high sampling frequency is required.

The dynamics of automated vehicles are studied and the existence and stability of steady state cornering maneuvers are investigated. Utilizing tools from analytical mechanics, namely the Appellian approach, vehicle models are constructed which incorporate geometrical nonlinearities and differentiate between front wheel drive (FWD) and rear wheel drive (RWD) automobiles. The dynamics of these models are studied using bifurcation analysis . Stable and unstable steady states are mapped out as a function of speed and steering angle . It is demonstrated that RWD and FWD vehicles exhibit different behavior, especially when they operate close to their handling limits. The theoretical results are verified experimentally using an automated vehicle performing safety critical maneuvers.

Several models exist to simulate traction performance of a tractor, however, for most of them a proper experimental validation is missing. Moreover, their possible application for a practical use in a wide range of vehicles, equipment and soil configurations has never been further developed. This study examines a semi-empirical model of soil-tyre interaction, adapted to simulate the traction performance of mechanical front wheel drive tractors, taking into account not only mechanical soil and tyre parameters and static vehicle load but also the multi-pass effect, the load transfer effect, and the theoretical speed ratio between front and rear axles. This model simulates drawbar pull, traction coefficient, traction efficiency, and motion resistance as a function of slip, wheel load, tyre size and pressure. Several traction tests were performed on four Swiss agricultural soils of different type (clay, clay loam, silty loam, and loamy sand) in order to validate the model experimentally. Three tractors of widely ranging power (from 40 to 132 kW) and weight (from 24 to 68 kN) were used. Tractor configurations were varied by changing tyre pressure and tractor weight. Slip normally ranged between 5 and 30%. In most of the cases the model simulated drawbar pull as well as its variations due to changes in tyre pressure, wheel load, and soil strength reliably for practical purposes. Only when high wheel load was combined with low inflation pressure the model did not give suitable results due to an overestimation of the rolling radius. Based on the presented model, a convenient Excel-application called TASCV3.0 was developed for the practice. Such a practical computer-tool supports farmers in decision making concerning the tractor configuration, oriented to save fuel during agricultural operations.

A path following control is one of the most important technique for autonomous driving. This paper considers the path following problem using Dynamic Inversion (DI) method for military automobiles. The controller using DI is already used in the aviation research. The principle of DI is to replace the origin inherent dynamics with user-desired dynamics using model inversion. The automobile dynamics model is induced by a front wheel drive vehicle dynamics and equation of motion. An active front steering (AFS) system is an active safety device that improves handling and stability of a vehicle by controlling front steering. In this paper, the dynamic inversion method is proposed as a control technique for designing an AFS. The performance of the proposed DI controller for path following is evaluated by Matlab/Simulink simulation. The simulation results verified the effect of proposed controller.

Nowadays, the search for ways to increase the efficiency of electric vehicles is particularly relevant. However, ultimately, the purpose of electric mobility is, besides ecology, to be as cheap as possible. As with conventional cars, the cost is directly related to power. Everything in an electric car is subject to maximum energy savings. A condition for the development of electric vehicles is the use of suitably designed electric motors as a driving component of the electromechanical system. At present, in electric vehicles induction motors are mainly used for better efficiency and due to their known advantages. The motor, subject of research, is suitable for fast and easy vehicle conversions by replacing the engine of many compact front wheel drive vehicles. Paper deals with evaluation of the combined influence of changing the equivalent circuit parameters and the total moment of inertia on the electric power losses in a compact electric car drive in the dynamic modes arisen. Simulations have been performed using an appropriate mathematical model of electromechanical system. Results in tabular and graphical form have been obtained. Relevant conclusions have been made. Except for analysis, the developed model can also be used to finding a solution of the opposite task - development of electric motors and control systems with parameters, guaranteeing ongoing processes at user-defined requirements.

This paper introduces a powerful rapid prototyping technique using Typhoon hardware in the loop device for electric vehicles EV applications. First, the propulsion system of an electric vehicle in a front-wheel-drive configuration is built and tested in PSIM. Then, an all-wheel-drive configuration is built and tested in PSIM, achieving a new design of the propulsion system. The total drive train for both configurations is built and run using Typhoon's FPGAs which is governed in real time by the control algorithm implemented to the connected DSP board. Thus, both configurations run in real-time in Typhoon HIL without the need of real hardware setup but with utilizing a market available DSP controller. The results obtained from PSIM and Typhoon HIL in front wheel drive and all-wheel drive configurations are very close argument, which illustrate the rapid prototyping capability of Typhoon HIL that save the cost of having a real hardware in the testing period of the research and minimize the time of testing while adding the safety factor to the process.

Electric vehicles offer the capability to recover energy by electric braking and therefore to extend the range. Due to the dynamic axle load shift, which occurs during brake applications, and the corresponding brake force distributions, the potential for recuperation varies for different drive train topologies. In this paper, based on simulations, the energy recovery of electric vehicles with four-wheel drive, front wheel drive and rear wheel drive is analyzed. Two different options of the four-wheel drive are examined. The so-called ideal brake force distribution and an adaptive brake force distribution are considered for vehicles with one drive axle. The results indicate that the general capability regarding recuperation is higher for electric vehicles with four-wheel drives. However, the adaptive brake force distribution can reduce the gap.

International audience; The present manuscript deals with experimental investigations on thermal effects of air leakage zones at the boundaries of the vehicle hood. Measurements are carried out on a Peugeot 207 (Front Wheel Drive) in wind tunnel. The front wheels are activated by the car's engine and rolling on controlling rollers built in the wind tunnel. In parallel, the wind velocity is well controlled in order to simulate real conditions of driving. The underhood compartment is equipped with 80 thermocouples distributed on different components. Three operating conditions are studied according to the engine's rpm, to the wind and wheels velocities. The leakage zones are purposely clogged with five different configurations. The effect of the leakage zones has shown significant impact on the temperature field and has been physically analyzed.

Longitudinal slip efficiency of driving wheels of off road vehicles is function of not only slip of all driving wheels but also their gross traction force. In this work, the slip efficiency was ascertained for a mechanical front wheel drive (MFWD) tractor in a tillage practice. Front and rear driving wheels of the MFWD tractor performed in unequal traction circumstances (size, inflation pressure, and dynamic vertical load) and soil cone indices. Obtained results indicated that the slip efficiency nonlinearly dropped from 0.94 to 0.74 as simultaneous augmentation of slip ratio of the rear wheels to that of the front wheels (0.72-0.87) along with ratio increment of gross traction force of the rear wheels to that of front wheels (1.81-4.93). These conditions occurred, when draft force requirements of implement augmented from 8.58 to 25.85 kN. Hence, it can be pointed out that the maximum slip efficiency as well as overall power efficiency of the MFWD tractor in tillage practices would be achieved at the same slip in accordance with the same gross traction force of the front and rear wheels. To do this for, specific tire type (radial or bias ply), automatic slip control of the wheels by implementing wheel slip control system would be beneficial, especially in case of lower slip than 0.2 for achievement of maximum tractive efficiency. It must be noted that adjustment of inflation pressure of the tires is also advantageous followed by ballast weight application in this realm.

Preceding researches proved that improper driving lead of tractor front wheels results in power circulation in transmission system, excessive wear of tires, premature rough ride, lower braking performance, and higher fuel consumption for mechanical front wheel drive (MFWD) tractor in rectilinear motion. For the first time, this study attempts to ascertain the driving lead dependency on draft force for the MFWD tractor which has not been yet addressed in the state of the art. To eliminate the effect of inflation pressure of high-lug radial tires on the driving lead, it was kept constant at 204 and 136 kPa for the front and rear wheels, respectively. The tractor was loaded by draft force required for fully mounted plow implement. It was found that the driving lead nonlinearly augmented from 1.86 to 8.08% as draft force augmented from 7.88 to 37.81 kN. Possible explanations and interpretations for this result have been completely documented in the paper. Overall, in order to manage the driving lead in admissible range in the loading operations, inflation pressure adjustment of the tires by means of commercial central tire inflation system is emphatically suggested as the first priority rather than ballast weight application.

A potência disponível na barra de tração e na tomada de potência juntamente com a reserva de torque são algumas das principais características a serem analisadas nos tratores agrícolas. Neste sentido, conduziu-se o presente trabalho com o objetivo de avaliar os parâmetros relacionados à potência e ao torque dos tratores agrícolas de pneus comercializados no Brasil em relação a quatro faixas de potência e tipo de tração. O trabalho foi realizado por meio de levantamento das informações em 191 tratores agrícolas, sendo estas obtidas nos catálogos dos espécimes e em alguns casos medidos em loco, quando a informação não estava presente no catálogo. Os parâmetros de potência disponível na tomada de potência e na barra de tração e a reserva de torque foram estimados; sendo que alguns desses parâmetros foram avaliados em diferentes condições de solo. Os dados foram analisados utilizando-se ferramentas da estatística descritiva para comparação dos espécimes. Os tratores superpesados com tração dianteira auxiliar apresentam maior torque disponível na potência nominal do motor, na TDP a 540 rpm e reserva de torque. Os espécimes da faixa de potência média e tração 4x2 TDA têm maior representatividade no mercado nacional, correspondendo a 47 e 79%, respectivamente.

The paper presents two kinematic schemes of the reverse driving mechanism on CVT’s, the first one for rear-wheel drive, and the second one for front-wheel drive. For the first kinematic scheme, the reverse driving mechanism consists of a planetary cylindrical gear set and a multi-disk brake. In order to achieve a better efficiency for reverse driving, the authors propose a new kinematic structure of a planetary cylindrical gear mechanism, simpler than the existing designs. While describing a synthesis of the new kinematic solution, special attention was granted to maintaining the advantages of each of the two existing mechanisms, and highlighting the advantage of using less cylindrical gears.

At present, the aging rate in Japan is among the highest in the world, and it is progressing at such a rate that it cannot be seen in other countries. Therefore we consider that the number of persons who are difficult to move by oneself will increase. We focus on an electric wheelchair. There are classified roughly into two types by the difference of installed position of drive wheels, and it results in the difference in run properties. We pay our attention to low straightness of front-wheel-drive under these properties. This research aims at finding the cause of low straightness and proposition of the method which improves straightness. We built a human - wheelchair model and performed simulations, and we performed the automatic drive experiments with the wheelchair equipped with a laser sensor. Based on these results, we propose a control method to improve straightness of a front-wheel-drive wheelchair. Finally we confirmed the usefulness of our method by simulations, and experiments.

In agriculture, tractor is the most fuel-consuming machine. The research indicates that 20–55% of available tractor power is lost in the process of interaction between tires and soil surface. Tire pressure and vertical wheel load are both easily managed parameters, which play a significant role in controlling the slip, the traction force and the fuel consumption of a tractor. The purpose of the research was to base theoretically and experimentally the tire pressures that ensure a minimum kinematic mismatch between the drive wheels for MFWD (mechanical front-wheel drive) tractor, and thereby reduce the fuel consumption at a reasonable tire slip. Close to one coefficient of kinematic mismatch between the front and the rear wheels was observed when combinations of pressures in the rear/front tires were made, respectively: 150/70, 190/110, and 230/115 kPa. When tractor (MFWD) was driving on a hard road surface without thrust load and with above mentioned tire pressure combinations, the lowest fuel consumption was reached, namely, in the range from 3.75 to 3.8 L h−1.

Estimulada por políticas acessíveis de crédito agrícola e busca de melhores condições de trabalho, a agricultura familiar brasileira vem passando por constantes transformações no que diz respeito à utilização de máquinas agrícolas. Nesse cenário, o trator agrícola esta cada vez mais presente, portanto, conhecer o custo de manutenção dessa importante fonte de potência é estratégico para a sustentabilidade econômica das unidades de produção familiares. Devido a esta realidade, objetivou-se com este trabalho determinar os custos relativos a manutenção devido a troca de filtros, lubrificantes e pneus de tratores agrícolas com potência no motor de até 72,9 kW, subdivididos em tipo de tração e categoria do sistema hidráulico. Para a realização deste trabalho foram coletados dados técnicos, preços dos lubrificantes e materiais de substituição periódica. As variáveis quantitativas e qualitativas foram: especificações técnicas - marca, modelo, potência máxima no motor, designação dos pneus, duração e quantidade trocada de filtros, lubrificantes e pneus. Foram analisados 94 modelos, 25 com tração nas duas rodas motrizes e 69 com tração dianteira auxiliar (TDA). Concluiu-se que menores custos médios de manutenção são obtidos em tratores 4x2 e categoria I no sistema hidráulico e maiores custos médios de manutenção são obtidos em tratores 4x2 TDA e categoria II no sistema hidráulico. Os coeficientes de variação encontrados foram altos entre os modelos estudados com custos mínimos e máximos de respectivamente R$ 0,82 e R$ 5,73 (R$ h-1).

This paper introduces the novice concept of “Eco-hybrid Two wheeler” which is a combination of two systems i.e. petrol and electric system. This hybrid vehicle will make use of both technologies. Petrol system will be used for rear wheel drive and the electric system for front wheel drive. The batteries will be automatically charged when the vehicle runs on petrol system and that stored power will further be used for running the vehicle on electric system and so running of vehicle on electric system will be free of cost and pollution free also. The most attractive thing is that the batteries can also be recharged from electric supply.

Made available in DSpace on 2018-12-11T17:33:40Z (GMT). No. of bitstreams: 0 Previous issue date: 2017-01-01. Added 1 bitstream(s) on 2021-07-15T14:34:16Z : No. of bitstreams: 1 S0100-69162017000400699.pdf: 481340 bytes, checksum: fd53e16da4807f0f0bc4764d0035d989 (MD5) The mechanized gathering process of sweeping coffee is extremely important to reduce the losses of fruit not used in the harvesting operation. But this operation usually has a low operational performance and a high cost per unit collected in this way any measures that can effectively reduce costs increase the viability of the operation. In this sense, studies on adequacy tractor mass for each operation show improvement in energy use, reducing fuel consumption. So, this study aimed to quantify the fuel consumption and effective power along the process of a tractor 4x2 FWD pulling the coffee harvester. I was used as treatments three ballasting settings, these being equivalent the relations power to weight of 36, 39 and 42 kg hp-1 working with and without activated FWD, randomized statistically, with 10 repetitions each configuration. It was conclude that, at low power-weight ratio, the front wheel drive assist had no significant influence on the hour fuel consumption. Already in the configuration with higher ratio, the use of front wheel drive favored in reducing fuel consumption and better energy use. São Paulo State University (Unesp) School of Agricultural and Veterinarian Sciences Federal University of São Carlos São Paulo State University (Unesp) School of Agricultural and Veterinarian Sciences

Based on the independent design front wheel drive vehicle traction control system (TCS), we finished the two kinds of working condition winter low adhesion real vehicle road test, including homogenous pavement and separate pavement straight accelerate, respectively completed the contrastive experiment with TCS and without TCS. Test results show that based on driver (AMR) and brake (BMR) joint control ASR system worked reliably, controlled effectively, being able to control excessive driving wheel slip in time, effectively improved the driving ability and handling stability of vehicle.

The development of alternative vehicle were continued by designing hybrid vehicle that using compressed air and electrical propulsion. This compressed air propulsion on the rear wheels and two electric motor as a front wheel drive (FWD) were installed independently, where left and right can rotate with different speeds and direction. Independent FWD could be a problem when two wheels has a different rotation. The first experiment was tested by measuring the rotation per minute (RPM) on each wheel. Measurement were performed by varying the position of the throttle pedal. The result of measurements on both wheels rotating speed showed a difference of 1 %. The second test was to compare the space requirement, which derived from the function of cornering radius. Space requirement for inactive vehicle cornering system is 4.52 meters and 3.39 meters when system is active.

AWD (All Wheel Drive) clutch is a system that allocates the part of entire driving force with the front wheel drive shaft, among the main power delivered to the rear wheel axle through the electric control of clutch system inside the transfer module. It controls the surface pressure using the change (forward and reverse direction) in the oil flow rate of clutch pack depending on the driving condition, and delivers the driving force of main drive shaft to the sub-drive shaft through the difference of surface pressure. An oil hydraulic motor does not need maintenance and repair, and BLDC motor sensorless has been used as it is strong against outside influences such as vibration and heat. This paper proposed the control method of instantaneous forward and reverse direction considering response and stability.

In the study of the front-wheel drive bicycle robot, we found a lot of disadvantage in linear control method. This is because the linear system ignores many important nonlinear characteristics. Therefore, we designed a nonlinear control method for the front-wheel drive bicycle robot based on adaptive fuzzy control method. The simulation results are provided to show the efficacy of the adaptive fuzzy control strategy.

The 90 degrees stand motion of a Front-wheel drive bicycle robot is analyzed in this paper. A kind of dynamic model is presented based on Routh Equation. The linear dynamic modelling of the bicycle robot was presented after the linearization by ignoring the effects of the high-order terms and the multiplications of coupling terms. According to 90 degrees stand motion control, the controller was designed based on LMI H ∞ robust control algorithm, on this basis, the simulation of the controller for the stand motion of the robot without interference and under interference is presented separately. The validity of the control algorithm is testified by the simulation. It has certain ability of anti-interference, the real prototype was built, it could lay a foundation for the control of the robot prototype.

This article presents a control strategy for drive-train oscillations induced by driving force variation during heavy acceleration processes. The main advance of this approach is the early detection of an impending oscillation from the beginning of the acceleration. The main challenge is the absence of evaluable vehicle sensor signals at standstill. The algorithm therefore relies on a physical model. In conjunction with an interpretation of the driver’s input, the algorithm is able to predict the vehicle state in a certain time frame. In the first part, the physical model, which is used to adequately describe the phenomenon, is introduced. In the following, a comparison between measurements and simulation is given to illustrate the model quality. Finally, the effectiveness of the new approach is demonstrated on the basis of real driving manoeuvres.

Modeling and control strategies for a design of an autonomous three wheeled mobile robot with front wheel steer is presented. Although, the three-wheel vehicle design with front wheel steer is common in automotive vehicles used often in public transport, but its advantages in navigation and localization of autonomous vehicles is seldom utilized. We present the system model for such a robotic vehicle. A PID controller for speed control is designed for the model obtained and has been implemented in a digital control framework. The trajectory control framework, which is a challenging task for such a three-wheeled robot has also been presented in the paper. The derived system model has been verified using experimental results obtained for the robot vehicle design. Controller performance and robustness issues have also been discussed briefly., Comment: IEEE International Conference on Robotic Computing 2017. (under review)