Abstract: A dual-steering control strategy based on direct yaw moment control for 8 in-wheel motor drive wheel vehicle is designed. A double-track vehicle kinematics model with 2-DOF is established. A vehicle reference model which includes the skid-steering condition is studied. And the skid-steering ratio is adjusted fuzzily based on the vehicle speed and the road adhesion condition. In order to balance the contradiction between the control of yaw rate and the limitation of side-slip angle, the yaw rate is set to be a direct control variable, and the side-slip angle is set to be a constraint variable in this model. The yaw torque is adjusted by sliding mode variable structure control algorithm. The driving torque is optimally distributed through the strategy of combining the predistribution and driving skid-resistance control.The proposed control algorithm for dual-steering established is proved and analyzed by a real-time simulation in hardware-in-loop. The simulated results indicate that the dual-steering control strategy can effectively improve the steering flexibility and operation stability of the in-wheel motor drive vehicle, which is of great significance for improving the battlefield viability of wheeled armored vehicles.

Key words: ordnance science and technology, in-wheel motor, dual-steering, direct yaw moment control, hardware-in-loop