Advance Modeling of a Skid-Steering Mobile Robot for Remote ...

More documents

Recommendations

Info

5.2 Identification of the Tire Dynamic Parameters 74(a)(b)Figure 5.6: Example of acquired data for Yaw motion: (a) Lowpass-filtered data and their envelop; (b) FFT ofreal data.
5.2 Identification of the Tire Dynamic Parameters 75data f peakx f peaky f peakz1 5.8594 2.9297 7.81252 5.8594 2.9297 7.32423 5.8594 2.9297 7.32424 6.3477 2.9297 6.83595 5.8594 2.9297 7.81256 6.3477 3.4180 7.81257 5.8594 2.9297 7.32428 6.3477 3.4180 7.8125mean 6.0425 3.0518 7.5073std 0.2527 0.2260 0.3633Table 5.2: Peak frequencies of the Roll, Pitch and Yaw free response for random initial conditions.the exponential function always envelops the data when λ assumes values relatively close toλ = 2, 3.5, 4.5 respectively for the Roll, Pitch and Yaw. In conclusion, we can consider thefrequencies of the oscillations and the rates of decay estimated as:f peakx = 6.04, λ x = 2f peaky = 3.05, λ y = 3.5f peakz = 7.51, λ z = 4.5By looking at the free response functions defined in (5.7), the following relations betweenf peaki , λ i and the corresponding ω ni , ξ i can be easily derived:2π f peaki =√1 − ξ 2 i ω n iλ i = ξ i ω niThereby, the angular natural frequencies and the damping ratios are estimated as follows:ω in =ξ i =√4π 2 f 2 peak i+ λ 2 iλ i√4π 2 f 2 peak i+ λ 2 i(5.9)leading to the values:
Page 1 and 2:
Università degli Studi di GenovaRo
Page 3 and 4:
IINothing great in the World has be
Page 5:
CONTENTSIV6 Simulation 786.1 Simuli
Page 8 and 9:
LIST OF FIGURESVII6.4 (a) Block sch
Page 10 and 11:
List of Tables5.1 Table of the geom
Page 12 and 13:
Introduction 2boDynamics, VGo Commu
Page 14 and 15:
Introduction 4The robot employed, i
Page 16 and 17:
Chapter 1Hardware and SoftwareIn th
Page 18 and 19:
1.1 The Pioneer 3-AT Robot 8four ho
Page 20 and 21:
1.2 The sensors 10control resolutio
Page 22 and 23:
2.1 State of the Art 12not negligib
Page 24 and 25:
2.1 State of the Art 14velocity vec
Page 26 and 27:
2.1 State of the Art 16Figure 2.3:
Page 28 and 29:
2.1 State of the Art 18Finally, by
Page 30 and 31:
2.1 State of the Art 20constraint (
Page 32 and 33:
2.1 State of the Art 22approximates
Page 34 and 35: 2.2 Generalized Modeling 24⎡1 0¯
Page 36 and 37: 2.2 Generalized Modeling 26V = [v T
Page 38 and 39: 2.2 Generalized Modeling 28where T(
Page 40 and 41: 2.2 Generalized Modeling 30⎡g R(J
Page 42 and 43: 2.2 Generalized Modeling 32where we
Page 44 and 45: Chapter 3Experimental DataIn this c
Page 46 and 47: 3.1 The accelerometer 36(a)(b)Figur
Page 48 and 49: 3.2 Characterization of the Vibrati
Page 54 and 55: 3.3 Characterization of the Tire Fo
Page 66 and 67: 4.1 Tire Lateral Force 56Figure 4.1
Page 68 and 69: 4.1 Tire Lateral Force 58velocity b
Page 70 and 71: 4.1 Tire Lateral Force 600 ≤ µ i
Page 72 and 73: 4.3 Tire Vertical Force 62f ix (t)
Page 74 and 75: Chapter 5Identification of the Robo
Page 76 and 77: 5.1 Identification of the Geometric
Page 78 and 79: 5.2 Identification of the Tire Dyna
Page 88 and 89: Chapter 6SimulationIn this chapter,
Page 90 and 91: 6.1 Simulink Model 80On the right h
Page 92 and 93: 6.1 Simulink Model 82Figure 6.3: Bl
Page 94 and 95: 6.1 Simulink Model 84(a)(b)Figure 6
Page 96 and 97: 6.1 Simulink Model 86that v icx can
Page 98 and 99: 6.2 Simulation Results 88(a)(b)Figu
Page 100 and 101: 6.2 Simulation Results 90enough to
Page 102 and 103: 6.2 Simulation Results 92hand side
Page 104 and 105: 6.2 Simulation Results 94(a)(b)Figu
Page 106 and 107: 6.2 Simulation Results 96• For λ
Page 108 and 109: AppendixesAppendix A1 %% Main progr
Page 110 and 111: Appendixes 10080 title([conf,’; A
Page 112 and 113: Appendixes 10224 Hd = design(h,filt
Page 114 and 115: Appendixes 1043031 % Filter the dat
Page 116 and 117: Appendixes 106(a)(b)(c)Figure 6.10:
Page 130 and 131: Appendixes 120(a)(b)Figure 6.24: Pe
Page 134 and 135:
Appendixes 124(a)(b)(c)Figure 6.27:
Page 136 and 137:
Page 138 and 139:
Page 140 and 141:
Page 142 and 143:
Page 144 and 145:
Bibliography[1] G. Oriolo, A. De Lu
show all

Advance Modeling of a Skid-Steering Mobile Robot for Remote ...

Create successful ePaper yourself

Delete template?

Save as template?