Yaw moment control for skid steered vehicle with distributed motor drive

Hu, Jibin; Ni, Jun

doi:10.1109/itec-ap.2014.6941004

Cited by 3 publications

(4 citation statements)

References 3 publications

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“…The translation between the desired yaw velocity and the demanded yaw moment is based on a reference dynamic model proposed by two of the present authors in previous work. 27 Longitudinal tyre force distribution module and tyre condition estimation module In order to control the six in-wheel motors to obtain the total traction force demanded and the total yaw moment demanded, the longitudinal force acting on each wheel has to be distributed by the longitudinal tyre force distribution module. First, the constraint that must be satisfied in the longitudinal tyre force distribution module is The longitudinal force acting on each wheel cannot be solved by only equation (1).…”

Section: Dynamic Modulementioning

confidence: 99%

“…If it is assumed that there is no slide area in the contact patch, then the longitudinal acting force and the lateral acting force can be obtained by integration over the whole contact patch according to If the shape of the ellipse is expressed by equations (15) and (16), equations (27) can be obtained as…”

Section: Expression For the Acting Forcementioning

confidence: 99%

Section: Dynamic Modulementioning

confidence: 99%

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Dynamic modelling and experimental validation of a skid-steered vehicle in the pivotal steering condition

2016

Proceedings of the Institution of Mechanical Engineers, Part D:

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The pivotal steering ability of a skid-steered vehicle is an important advantage compared with the steering ability of an Ackermann steered vehicle. In the pivotal steering condition, the strong non-linearity of the properties of the tyres makes prediction of the dynamic modelling and the performance difficult. For this purpose, this paper proposes an experimentally validated dynamic model to describe the motion of a skid-steered vehicle in the pivotal steering condition. The mechanical analytical model of the tyres was constructed on the assumption of an 'elliptical parabolic' contact pressure distribution. The dynamic model has nine degrees of freedom, including the longitudinal motion, the lateral motion and the yaw motion of the body and also the rotation of the wheels; the motor saturation is also considered. The analysis and experiments were based on a specific 6 3 6 unmanned skid-steered vehicle which is driven by six independent in-wheel motors, and the driving control algorithm of the vehicle was also described. By comparing the results of experiments and simulations, it was shown that the dynamic model provided an accurate prediction of the performance.

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Section: Dynamic Modulementioning

confidence: 99%

Section: Expression For the Acting Forcementioning

confidence: 99%

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Dynamic modelling and experimental validation of a skid-steered vehicle in the pivotal steering condition

2016

Proceedings of the Institution of Mechanical Engineers, Part D:

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“…Kim et al 2–5 did much research on skid-steered wheeled vehicle based on a robotic vehicle with articulated suspension (RVAS) using skid-steering principle, including dynamic model establishing, driving torque distribution, slip ratio control, and vehicle motion control. Ni and Hu 1,6–9 also did lots of study on skid-steered wheeled vehicle. Their research concentrates on skid-steering mechanism and motion control.…”

Section: Introductionmentioning

confidence: 99%

An observation algorithm for key motion states of skid-steered wheeled unmanned vehicle

Zhang

Pei

Yin

et al. 2021

Proceedings of the Institution of Mechanical Engineers, Part D:

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With the increasing demand of military and civilian in the intelligent vehicles, the skid-steering theory has been widely used in unmanned ground vehicles, especially in unmanned military vehicles and unmanned surveillance platforms. Due to its driving environment complex and variable, which requires stricter dynamic control system. In order to improve the active safety performance of the skid-steering unmanned vehicle and develop the key technologies such as behavior decision planning technology, path tracking, and dynamic control technology, it is necessary to develop the dynamic state parameter observation system based on skid-steering theory. In this paper, an observation using Strong Track External Kalman Filter theory with noise matrix adaptive is designed to estimate vehicle kinematic parameters based on a 6 × 6 skid-steered unmanned vehicle. First, kinematic and dynamic model is built to analyze the characters of a skid-steered wheeled vehicle. Then a tire force estimation method based on dynamic model is presented to observe the tire longitude and vertical force. The tire force data is also used by Dugoff nonlinear model. Then an External Kalman Filter theory is designed to estimate vehicle kinematic parameters. To increase the accuracy and the robustness of the observer, the Strong Tracking EKF (STEKF) and noise adaptive adjustment is designed. Finally, a combined simulation using TruckSim and Simulink and the experiment using a 6 × 6 skid-steered unmanned vehicle verifies the efficiency of the observer. Results show that the observer is able to estimate the skid-steered wheeled vehicle states, and it also shows that the yaw rate result in the slip angle difference between each tire.

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