401 SSM を用いた軌道誘導車両のドリフト旋回特性

概要

論文の詳細を見る
In the previous paper, the simulated loci of high speed cornering are not correspond with the experimental results, because of the tire model is only used the sticking in Coulomb friction model. If the centrifugal force becomes larger than the cornering force of tires, the vehicle does not maintain the desired course. This demeanors includes the sticking and slipping condition of the tire. In order to simulate the trajectory at the high speed corner, this paper assumed three stages of friction; low kinetic friction force at the beginning of slipping, the period of kinetic friction force, and the returning to the static friction at the small slip angle. In addition of the RR (Rear motor Rear drive) type vehicle, FF (Front motor Front drive) type with SSM (sensor Steering Mechanism) and 4-wheel steering mechanism is developed, and both robots run on the oval course at high speed. Numerical simulation and experimental results show the effective prediction for the friction model.
一般社団法人日本機械学会の論文
2002-09-13