Skid steering vehicle has larger wheel slip ratio when steering than straight driving. Due to the lack of accurate tire model in practical application, the slip coefficient is difficult to be quantitatively studied. However, there would be a large steady state error on the skid steering vehicle, which using the wheel speed difference control if the coefficient was ignored. Aiming at this problem, a controller overcoming integral saturation for steering control based on proportional integral control method is designed, which can correct the wheel slip coefficient in real time without the tire model. In the end, the effectiveness of the algorithm is verified by real vehicle test.
Tire-Model-Free Control for Steering of Skid Steering Vehicle
2018 IEEE Intelligent Vehicles Symposium (IV) ; 1590-1595
2018-06-01
882644 byte
Conference paper
Electronic Resource
English
TIRE-MODEL-FREE CONTROL FOR STEERING OF SKID STEERING VEHICLE
British Library Conference Proceedings | 2018
|Automotive engineering | 1975
|SAE Technical Papers | 1975
|