TY - GEN
T1 - Research on Simplified Dynamics Model of Articulated Suspension Vehicle
AU - Wang, Yun
AU - Li, Xueyuan
AU - Zhu, Yuzheng
AU - Han, Ziyong
AU - Wang, Lei
N1 - Publisher Copyright:
© 2021 IEEE.
PY - 2021/8/6
Y1 - 2021/8/6
N2 - The articulated suspension vehicle, with its characteristics of high maneuverability, high passability and high stability, combines the advantages of leg motion and wheel motion. This paper aims to solve the complexity of centroid dynamics model of the articulated suspension vehicle. Firstly, according to the force equivalent simplification principle, the centroid dynamics model of the articulated suspension vehicle is simplified to a linear inverted pendulum inertial flywheel model. Then, the motion characteristics of the simplified model are analyzed and verified by simulation using the phase plane method. Finally, the conclusion can be obtained: when the initial state of the system is outside the constraint boundary, the maximum attitude adjustment moment cannot adjust the system motion back to the stable state origin.
AB - The articulated suspension vehicle, with its characteristics of high maneuverability, high passability and high stability, combines the advantages of leg motion and wheel motion. This paper aims to solve the complexity of centroid dynamics model of the articulated suspension vehicle. Firstly, according to the force equivalent simplification principle, the centroid dynamics model of the articulated suspension vehicle is simplified to a linear inverted pendulum inertial flywheel model. Then, the motion characteristics of the simplified model are analyzed and verified by simulation using the phase plane method. Finally, the conclusion can be obtained: when the initial state of the system is outside the constraint boundary, the maximum attitude adjustment moment cannot adjust the system motion back to the stable state origin.
KW - articulated suspension vehicle
KW - dynamics model
KW - phase plane analysis
UR - http://www.scopus.com/inward/record.url?scp=85116640492&partnerID=8YFLogxK
U2 - 10.1109/ICRCV52986.2021.9546968
DO - 10.1109/ICRCV52986.2021.9546968
M3 - Conference contribution
AN - SCOPUS:85116640492
T3 - 2021 3rd International Conference on Robotics and Computer Vision, ICRCV 2021
SP - 105
EP - 112
BT - 2021 3rd International Conference on Robotics and Computer Vision, ICRCV 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 3rd International Conference on Robotics and Computer Vision, ICRCV 2021
Y2 - 6 August 2021 through 8 August 2021
ER -