Simulation Study of Motion Control Algorithm for a Sixwheel Independent Drive Skidsteering Vehicle

doi:10.3969/j.issn.1000-1093.2013.11.019

Abstract

Abstract: In view of the steering theory and independently controlled torque of sixwheel independent electric drive skidsteering vehicle, a motion control algorithm is proposed based on the problems of driving force optimum allocation and control stability. The driving control algorithm consists of three parts: a speed controller, a steering controller and a tire force optimum distribution controller. The speed controller and steering controller are designed to determine the generalized longitudinal force and yawing moment required to achieve vehicle steering. The tire force optimization distribution controller determines how much torque should be generated at each wheel based on the vertical load of tire. The simulation results show that the tire having the bigger vertical load has the more driving torque on it. Compared with the equal distribution method, the optimum distribution method shows that the tire load rate is decreased by 979%.

Key words: control science and technology, skidsteering, independent drive, driving force distribution, handling and stability

CLC Number:

YAN Yong-bao, ZHANG Yu-nan, YAN Nan-ming, HAN Bao-liang. Simulation Study of Motion Control Algorithm for a Sixwheel Independent Drive Skidsteering Vehicle[J]. Acta Armamentarii, 2013, 34(11): 1461-1468.

References

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