In this paper, a method is presented to determine the individual tire slippages and wheel circumferential forces/torques for vehicles with individually-driven wheels. The method is based on a system of parameters of individual wheels mathematically linked to the vehicle generalized parameters. The paper demonstrates an inverse approach on how the generalized parameters can be used to determine individual wheel parameters when the vehicle generalized parameters are given for a single, generalized wheel, whose kinematics and dynamics are equivalent to those of the vehicle. The method can be applied to improve terrain mobility and energy efficiency of autonomous ground vehicles, including planet rovers whose guidance systems do not take into consideration that the tire slippages and circumferential forces are different or should be different by determining individual parameters of the e-motors to provide maximum mobility or energy efficiency in a straight line motion.
Inverse Approach to Vehicle Generalized Parameters for Individual Drives
Lect.Notes Mechanical Engineering
Advanced Vehicle Control Symposium ; 2024 ; Milan, Italy September 01, 2024 - September 05, 2024
2024-10-04
7 pages
Article/Chapter (Book)
Electronic Resource
English
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