Driving force control of wheel motor drive skid steer vehicle
1. School of Automotive Engineering， Wuhan University of Technology, Wuhan， Hubei 430070， China； 2. Hubei Key Laboratory of Advanced Technology for Automotive Components, Wuhan University of Technology, Wuhan， Hubei 430070， China； 3. Hubei Collaborative Innovation Center for Automotive Components Technology, Wuhan University of Technology, Wuhan， Hubei 430070， China； 4. Hubei Engineering Technology Research Center for New Energy and Intelligent Connected Vehicle, Wuhan University of Technology, Wuhan， Hubei 430070， China
Abstract：To improve the maneuverability and stability of the skid steer vehicle driven by hub motors, the advantages of torque vectoring control in vehicle dynamics were fully utilized. To solve the chattering problem in traditional sliding mode control, a direct yaw moment control method was proposed based on adaptive fuzzy sliding mode control (AFSMC). The AFSMC controller was designed to calculate the additional yaw moment for following the control target, and a fuzzy system was constructed to approximate the variable gain sign function in real time. The fuzzy adaptive law was derived through the Lyapunov method to enhance the robustness of the control strategy and suppress output control chattering. For the lower level, an optimized driving force distribution scheme based on tire load rate and weighting factors was proposed by establishing an objective function. In the proposed strategy, the nonlinear dynamic characteristics of the vehicle was fully considered. The experimental results on a real vehicle show that by the proposed control strategy, the good performance in vehicle handling and stability can be achieved with strong robustness of the control system.
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NI J, HU J B, XIANG C L. A review for design and dynamics control of unmanned ground vehicle[J]. Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, 2021,235(4): 1084-1100.
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VLADISLAV I. 六轮无人战车滑移转向设计及控制算法研究[D]. 哈尔滨：哈尔滨工业大学, 2020.
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NI J, HU J B. Dynamic modelling and experimental validation of a skidsteered vehicle in the pivotal steering condition[J]. Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, 2017,231(2): 225-240.
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ZHANG H, LIANG H, TAO X, et al. Driving force distribution and control for maneuverability and stability of a 6WD skidsteering EUGV with independent drive motors[J]. Applied Sciences, 2021,11(3): 961-972.
［7］
HUSKIC＇G, BUCK S, HERRB M, et al. Highspeed path following control of skidsteered vehicles[J]. The International Journal of Robotics Research, 2019,38(9): 1124-1148.
YU Z P, GAO L T, ZHANG R X, et al. Dynamic control of electric motor driven skidsteered vehicles[J]. Journal of Tongji University (Natural Science), 2018,46(5): 631-638. (in Chinese)
[10]
LIAO J F, CHEN Z, YAO B. Modelbased coordinated control of fourwheel independently driven skid steer mobile robot with wheelground interaction and wheel dynamics[J]. IEEE Transactions on Industrial Informatics,2019,15(3): 1742-1752.
[11]
NI J, WANG W D, HU J B, et al. Relaxed static stability for fourwheel independently actuated ground vehicle[J]. Mechanical Systems and Signal Processing, 2019,127(1):35-49.
[12]
DING S H, LIU L, ZHENG W X. Sliding mode direct yawmoment control design for inwheel electric vehicles[J]. IEEE Transactions on Industrial Electronics, 2017,64(8):6752-6762.
[13]
DE NOVELLIS L, SORNIOTTI A, GRUBER P. Wheel torque distribution criteria for electric vehicles with torquevectoring differentials[J]. IEEE Transactions on Vehicular Technology, 2014,63(4):1593-1602.
[14]
DE NOVELLIS L, SORNIOTTI A, GRUBER P. Optimal wheel torque distribution for a fourwheeldrive fully electric vehicle[J]. SAE International Journal of Passenger CarsMechanical Systems, 2013,6(1):128-136.
［1］
NI J, HU J B, XIANG C L. Design and Advanced Robust Chassis Dynamics Control for XbyWire Unmanned Ground Vehicle[M]. USA: Morgan & Claypool Publishers, 2018.
［2］
NI J, HU J B, XIANG C L. A review for design and dynamics control of unmanned ground vehicle[J]. Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, 2021,235(4): 1084-1100.
［3］
VLADISLAV I. 六轮无人战车滑移转向设计及控制算法研究[D]. 哈尔滨：哈尔滨工业大学, 2020.
［4］
KANG J, KIM W, LEE J, et al. Skid steeringbased control of a robotic vehicle with six inwheel drives[J]. Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, 2010,224(11): 1369-1391.
［5］
NI J, HU J B. Dynamic modelling and experimental validation of a skidsteered vehicle in the pivotal steering condition[J]. Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, 2017,231(2): 225-240.
［6］
ZHANG H, LIANG H, TAO X, et al. Driving force distribution and control for maneuverability and stability of a 6WD skidsteering EUGV with independent drive motors[J]. Applied Sciences, 2021,11(3): 961-972.
［7］
HUSKIC＇G, BUCK S, HERRB M, et al. Highspeed path following control of skidsteered vehicles[J]. The International Journal of Robotics Research, 2019,38(9): 1124-1148.
YU Z P, GAO L T, ZHANG R X, et al. Dynamic control of electric motor driven skidsteered vehicles[J]. Journal of Tongji University (Natural Science), 2018,46(5): 631-638. (in Chinese)
[10]
LIAO J F, CHEN Z, YAO B. Modelbased coordinated control of fourwheel independently driven skid steer mobile robot with wheelground interaction and wheel dynamics[J]. IEEE Transactions on Industrial Informatics,2019,15(3): 1742-1752.
[11]
NI J, WANG W D, HU J B, et al. Relaxed static stability for fourwheel independently actuated ground vehicle[J]. Mechanical Systems and Signal Processing, 2019,127(1):35-49.
[12]
DING S H, LIU L, ZHENG W X. Sliding mode direct yawmoment control design for inwheel electric vehicles[J]. IEEE Transactions on Industrial Electronics, 2017,64(8):6752-6762.
[13]
DE NOVELLIS L, SORNIOTTI A, GRUBER P. Wheel torque distribution criteria for electric vehicles with torquevectoring differentials[J]. IEEE Transactions on Vehicular Technology, 2014,63(4):1593-1602.
[14]
DE NOVELLIS L, SORNIOTTI A, GRUBER P. Optimal wheel torque distribution for a fourwheeldrive fully electric vehicle[J]. SAE International Journal of Passenger CarsMechanical Systems, 2013,6(1):128-136.
