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Improving off-road vehicle lateral stability with integrated chassis control
Dissertation (MSc (Engineering))--University of Pretoria, 2022.
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| Format: | Thesis |
| Language: | English |
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University of Pretoria
2023
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| _version_ | 1867613480073297920 |
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| access_status_str | Open Access |
| author2 | Hamersma, Herman |
| author_browse | Hamersma, Herman |
| author_facet | Hamersma, Herman |
| collection | Thesis |
| dc_rights_str_mv | © 2022 University of Pretoria. All rights reserved. The copyright in this work vests in the University of Pretoria. No part of this work may be reproduced or transmitted in any form or by any means, without the prior written permission of the University of Pretoria. |
| description | Dissertation (MSc (Engineering))--University of Pretoria, 2022. |
| format | Thesis |
| id | oai:repository.up.ac.za:2263/89869 |
| institution | University of Pretoria (South Africa) |
| language | English |
| last_indexed | 2026-06-10T12:36:48.836Z |
| license_str | Other — see source repository |
| provenance_str_mv | Harvested via OAI-PMH from UPSpace — University of Pretoria Institutional Repository |
| publishDate | 2023 |
| publishDateRange | 2023 |
| publishDateSort | 2023 |
| publisher | University of Pretoria |
| publisherStr | University of Pretoria |
| record_format | dspace |
| source_str | UPSpace — University of Pretoria Institutional Repository |
| spelling | oai:repository.up.ac.za:2263/89869 Improving off-road vehicle lateral stability with integrated chassis control Hamersma, Herman simj.sch@gmail.com Scholtz, Simon J. Stability control Rear differential braking (RDB) Active rear steering (ARS) Integrated chassis control (ICC) Off-road vehicle dynamics UCTD Dissertation (MSc (Engineering))--University of Pretoria, 2022. This study investigates the improvement of off-road vehicle lateral stability by integrated control of active rear steering (ARS) and rear differential braking (RDB) and how the performance of such systems compares on smooth and rough roads. The ARS and RDB controllers each comprise a sliding mode controller (SMC) for which the choice of reference model, SMC gain and integration rule are key design choices. Findings include that the kinematic model reference error is a preferred reference model over the phase plane location error on both terrains, the SMC gain is terrain dependant, and rear axle slip angle is a preferred integration rule over the stability index (SI) on both terrains. The study also found that RDB, and to a lesser degree ARS, tends to improve on the baseline vehicle path following ability for a double lane change (DLC) manoeuvre on both terrains, but RDB has a larger loss of speed compared to ARS. Rear axle slip angle was found to be a terrain dependant tuneable integration rule to combine ARS and RDB, and resulted in a control system that has the good path following ability of RDB but low loss of speed associated with ARS after tuning. Mechanical and Aeronautical Engineering MEng Unrestricted 2023-02-28T07:37:34Z 2023-02-28T07:37:34Z 2023-05-09 2022 Thesis * A2023 https://repository.up.ac.za/handle/2263/89869 10.25403/UPresearchdata.22184167 en © 2022 University of Pretoria. All rights reserved. The copyright in this work vests in the University of Pretoria. No part of this work may be reproduced or transmitted in any form or by any means, without the prior written permission of the University of Pretoria. application/pdf University of Pretoria |
| spellingShingle | Stability control Rear differential braking (RDB) Active rear steering (ARS) Integrated chassis control (ICC) Off-road vehicle dynamics UCTD Improving off-road vehicle lateral stability with integrated chassis control |
| title | Improving off-road vehicle lateral stability with integrated chassis control |
| title_full | Improving off-road vehicle lateral stability with integrated chassis control |
| title_fullStr | Improving off-road vehicle lateral stability with integrated chassis control |
| title_full_unstemmed | Improving off-road vehicle lateral stability with integrated chassis control |
| title_short | Improving off-road vehicle lateral stability with integrated chassis control |
| title_sort | improving off road vehicle lateral stability with integrated chassis control |
| topic | Stability control Rear differential braking (RDB) Active rear steering (ARS) Integrated chassis control (ICC) Off-road vehicle dynamics UCTD |
| url | https://repository.up.ac.za/handle/2263/89869 |