Abstract
The stability driving characteristic and the tire wear of 8-axle vehicle with 16-independent driving wheels are discussed in this paper. The lateral stability of 8-axle vehicle can be improved by the direct yaw moment which is generated by the 16 independent driving wheels. The hierarchical controller is designed to determine the required yaw torque and driving force of each wheel. The upper level controller uses feed-forward and feed-backward control theory to obtain the required yaw torque. The fuzzification weight ratio of two control objective is built in the upper level controller to regulate the vehicle yaw and lateral motions. The rule-based yaw moment distribution strategy and the driving force adjustment based on the safety of vehicle are proposed in the lower level controller. The influence of rear steering angle is considered in the distribution of driving force of the wheel. Simulation results of a vehicle double lane change show the stability of 8-axle vehicle under the proposed control algorithm. The wear rate of tire is calculated by the interaction force between the tire and ground. The wear of tire is different from each other for the vehicle with the stability controller or not.
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Abbreviations
- m :
-
vehicle mass
- k i :
-
linear cornering coefficient of the i th tire
- δ i :
-
steering angle of each axle
- l i :
-
distance between i th axle and mass center
- I :
-
rotational inertia of vehicle
- u :
-
longitudinal velocity of vehicle
- v :
-
lateral velocity
- r :
-
yaw rate
- β :
-
side-slip angle of the center of mass
- L i5 :
-
distance between the i th axle and 5th axle
- M z :
-
yaw moment
- M ff :
-
feed-forward yaw moment compensation
- M fb :
-
feed-backward yaw moment compensation
- r d :
-
ideal yaw rate
- β d :
-
ideal side-slip angle of center of mass
- m i, n i :
-
lever arm coefficient of left and right wheel
- δ 1 :
-
the inner steering angle
- B :
-
wheel base
- F xmax :
-
maximum adhesive force of the road
- p :
-
instability coefficient
- a :
-
weighted coefficient
- ΔF b :
-
the total adjustment of driving force by p
- μ s :
-
coefficient of road adhesive
- F yi :
-
lateral force of the tire
- |Δβ|:
-
error of side-slip angle
- |Δr|:
-
error of yaw rate
- F Zin :
-
the sum of vertical force of 8-j inner wheels
- F Zout :
-
the sum of vertical force of 8-j outer wheels
- T xi :
-
actual output torque of driving wheel
- F xi :
-
actual driving force of wheels
- F lim :
-
maximum driving force limited by motor
- r r :
-
rolling diameter of wheel
- W :
-
frictional work of tire wear
- F t :
-
tire force acting on road
- F x :
-
longitudinal force
- F y :
-
lateral force
- V x :
-
longitudinal slip velocity of each wheel
- V y :
-
lateral slip velocity of each wheel
- λ :
-
longitudinal slip ratio
- α :
-
side slip angle of the wheel
- C 0 :
-
tire fatigue wear
- P :
-
tire vertical load
- P 0 :
-
tire rated load
- n :
-
vertical load index
- b x :
-
relative wear coefficient by longitudinal force
- b y :
-
relative wear coefficient by lateral force
- S :
-
real travelling distance
- S 0 :
-
standard distance
- ε :
-
influence of the road
- G ff :
-
proportional gain coefficient of feed-forward controller
- l Li, l Ri :
-
lever arm from steering wheel to vehicle mass center
- ΔF Lia, ΔF Ria :
-
adjustment of driving force by M z
- F ZLi, F ZRi :
-
dynamic loading of the left, right wheel
- δ outi, δ ini :
-
the outer and inner steering angle of i th axle
- ΔF Lib, ΔF Rib :
-
adjustment of driving force by p
- F Lxi, F Rxi :
-
actual driving force of each wheel
- F Lxi0, F Rxi0 :
-
initial distribution driving force
- ΔF Li, ΔF Ri :
-
adjustment of driving force
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Shen, Y.H., Gao, Y. & Xu, T. Multi-axle vehicle dynamics stability control algorithm with all independent drive wheel. Int.J Automot. Technol. 17, 795–805 (2016). https://doi.org/10.1007/s12239-016-0078-x
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DOI: https://doi.org/10.1007/s12239-016-0078-x