The front and rear axles of articulated four-wheel vehicle equipped with hub motor have steering capacity, and the driving torque of each vehicle can be distributed independently, which greatly improves the mobility of the vehicle. However, the traditional articulated vehicle still has the defect of poor driving stability in this paper, a differential steering stability control method of distributed articulated vehicles based on Fuzzy controller is proposed to improve the driving stability of distributed articulated vehicles in the steering process. By establishing a linear two degree of freedom dynamic model of the articulated vehicle, the stability influencing factors of distributed articulated vehicles are analyzed. A steering stability control system based on the torque distribution of hub motor is proposed to control the yaw moment during vehicle steering process. The simulation model is calibrated through the steady-state steering experiment, and the joint simulation of severe lane-change manoeuvre condition and serpentine trajectory condition is carried out to verify the effectiveness of the control system. The simulation results show that the distributed articulated vehicle differential steering stability control based on Fuzzy controller is better than the traditional PID control.


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    Title :

    Research on differential steering control of an articulated steering vehicle via fuzzy-PID control


    Contributors:
    Yuan, Wenjun (author) / Xun, Lin (author)


    Publication date :

    2022-07-29


    Size :

    991242 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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