Simulation and parameter sensitivity studies of skid-steering and Ackerman steering on an eight-wheeled vehicle

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dc.contributor.advisorLongoria, Raul G.
dc.creatorGoodell, Jarrett Duvall
dc.date.accessioned2019-09-12T19:16:03Z
dc.date.available2019-09-12T19:16:03Z
dc.date.issued2004-05-22
dc.description.abstractA three degree of freedom vehicle dynamics model that includes longitudinal and lateral tire force models is described, including its implementation into the Matlab/Simulink simulation environment. The tire force models account for the effect of longitudinal slip as well as lateral slip angles, and the force characteristics are assumed to take the form commonly found for hard surface (non-deformable terrain) applications. The baseline model was developed for an eight-wheeled platform, and the model allows for simulation of either Ackerman or skid-steered configurations. A simple driver model is integrated with the vehicle model and allows control of the velocity and heading of the vehicle. Several common vehicle maneuvers including straight-line motion, constant radius turn, oval racetrack, and lane change are used to verify the model capability. The model was used to compare energy consumption of an Ackerman-steered vehicle and a skid-steered vehicle for the maneuvers described above. It was verified that skid steering consumed more energy than Ackerman steering for all maneuvers except for the straight-line maneuver. In addition, the model was used to examine the effects of varying several vehicle design parameters on energy consumption. The specific parameters analyzed include vehicle mass, aspect ratio, number of wheels, longitudinal weight distribution, and roll weight distribution. Results from this parameter sensitivity study can be used to make important design decisions early in the design cycle for eight-wheeled vehicles and other similar applications.en_US
dc.description.departmentMechanical Engineeringen_US
dc.format.mediumelectronicen_US
dc.identifier.urihttps://hdl.handle.net/2152/75820
dc.identifier.urihttp://dx.doi.org/10.26153/tsw/2922
dc.language.isoengen_US
dc.relation.ispartofUT Electronic Theses and Dissertationsen_US
dc.rightsCopyright © is held by the author. Presentation of this material on the Libraries' web site by University Libraries, The University of Texas at Austin was made possible under a limited license grant from the author who has retained all copyrights in the works.en_US
dc.rights.restrictionRestricteden_US
dc.subjectAckerman steered vehiclesen_US
dc.subjectSkid steeringen_US
dc.subjectParameter sensitivity analysisen_US
dc.subjectEnergy consumptionen_US
dc.titleSimulation and parameter sensitivity studies of skid-steering and Ackerman steering on an eight-wheeled vehicleen_US
dc.typeThesisen_US
dc.type.genreThesisen_US
thesis.degree.departmentMechanical Engineeringen_US
thesis.degree.disciplineMechanical Engineeringen_US
thesis.degree.grantorUniversity of Texas at Austinen_US
thesis.degree.levelMastersen_US
thesis.degree.nameMaster of Science in Engineering.en_US

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