Refine Your Search

Search Results

Viewing 1 to 2 of 2
Technical Paper

Attitude Control of the Vehicle with Six In-Wheel Drive and Adaptive Hydro Pneumatic Suspensions

2019-04-02
2019-01-0456
The ability of actively adjusting attitude provides a great advantage for those vehicles used in special environments such as off-road environment with extreme terrains and obstacles. It can improve vehicles’ stability and performance. This paper proposes an attitude control system for realizing the active attitude adjustment and vehicle motion control in the same time. The study is based on a vehicle with six wheel independent drive and six independent suspensions (6WIDIS), which is a kind of unmanned vehicle with six in-wheel drives and six independent hydro pneumatic suspensions. With the hydro- pneumatic suspensions, the vehicle’s attitude can be actively adjusted. This paper develops a centralized- distributed control strategy with attitude information obtained by multi-sensor fusion, which can coordinate the complex relationship among the six wheels and suspensions. The attitude control system consists of three parts.
Technical Paper

Development and Control of Four-Wheel Independent Driving and Modular Steering Electric Vehicles for Improved Maneuverability Limits

2019-04-02
2019-01-0459
Electric vehicles are capable of more flexible drivetrain configurations, such that driving dynamics of each wheel could be controlled independently to increase its stability and maneuverability bounds. We hereby propose a configuration consisting of four wheel independent driving and front and rear axle modular steering. The vehicle implements drive-by-wire technology, which means the control program running on vehicle control computer will have direct control authority of the vehicle under normal driving conditions, based on inputs of higher level systems such as human drivers and autonomous driving programs. Both the torque allocation on four wheels and the steering allocation on axles are completely independent on the mechanical hardware level, thus the vehicle is able to harness adverse contact conditions with confidence.
X