Therefore, to improve the computational accuracy of the 7-DOF simplified model without wheelsets, the lateral velocities of the wheelsets of the full-size three-dimensional vehicle model in the multi-body dynamic software ADAMS/Rail are exported as the excitation matrix W = [[[??].sub.[omega]1], [??].sub.[omega]2], [??].sub.[omega]3], [??].sub.[omega]4]].sup.T] of the 7-DOF simplified model.
The mass, rotational inertia, and other simulation parameters of this model are the same as those in the 7-DOF model that we analysed.
After the simulation, the lateral velocities [[??].sub.[omega]1], [[??].sub.[omega]2], [[??].sub.[omega]3] and [[??].sub.[omega]4] of wheelsets 1, 2, 3 and 4 are exported respectively from ADAMS/Rail as the transitive excitation of the 7-DOF simplified vehicle model.
The 7-DOF simplified model does not account for the DOFs of the wheelsets.
Our research team design a 7-DOF modular reconfigurable robot and the modular joint is shown in Figure 3.
By the robot configuration, design parameters, and size parameters, the D-H parameters of 7-DOF modular robot can be determined, as shown in Table 2.
By the D-H parameters, the kinematic model is established for 7-DOF modular robot.
Therefore, the kinematic model is expressed as Formula (3) for the 7-DOF modular robot.
Thus the 7-DoF full car model can be represented by a T-S fuzzy model composed of 16([2.sup.4]) rules as listed in Table 1.
An active suspension using T-S fuzzy control and ARC control has been designed for a 7-DoF full car model.
Caption: FIGURE 1: Active suspension structure for the 7-DoF full car model.