This paper describes torque distribution control of six-wheeled in-wheel motor vehicles by considering the friction circle of each wheel for enhanced terrain-driving performance. Using control allocation, the proposed torque distribution algorithm determines the torque command to each wheel, by considering the size of the friction circle. The friction circle of each wheel is estimated using a linear parameterized tyre model with two threshold values. The parameters and the threshold values are computed from measurements of the wheel speed, the yaw rate, the acceleration and the torque command signals using a recursive least-squares method. Simulation studies were conducted using TruckSim and MATLAB/Simulink co-simulations. It was confirmed that the proposed friction circle estimation algorithm can be successfully used for torque distribution to enhance the terrain-driving and hill-climbing performance.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Friction circle estimation-based torque distribution control of six-wheeled independent driving vehicles for terrain-driving performance


    Contributors:
    Nah, Jaewon (author) / Seo, Jongsang (author) / Yi, Kyongsu (author) / Kim, Wongun (author) / Lee, Jongseok (author)


    Publication date :

    2015-09-01


    Size :

    14 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English





    TWO-WHEELED VEHICLE TIRE FOR DRIVING ON ROUGH TERRAIN

    HINAMI YUKIKO | European Patent Office | 2021

    Free access

    Handling and driving characteristics for six-wheeled vehicles

    Huh, K. / Kim, J. / Hong, J. | Tema Archive | 2000


    Independent steering and independent driving modular wheeled motion unit system

    LI MINGXING / JIA YINGMIN | European Patent Office | 2021

    Free access

    Handling and driving characteristics for six-wheeled vehicles

    Huh,K. / Kim,J. / Hong,J. et al. | Automotive engineering | 2000