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Control of at-the-limit handling behaviour of a six-wheeler: strategies based on individual steer and individual torque control
KTH, Skolan för teknikvetenskap (SCI), Farkost och flyg, Fordonsdynamik.
KTH, Skolan för teknikvetenskap (SCI), Farkost och flyg, Fordonsdynamik.ORCID-id: 0000-0002-4048-3452
(Engelska)Ingår i: Vehicle System Dynamics, ISSN 0042-3114, E-ISSN 1744-5159Artikel i tidskrift (Övrigt vetenskapligt) Submitted
Abstract [en]

To simulate a six wheeled vehicle at the handling limit, a vehicle model with a brush tyre model is used in order to get physicallyreasonable simulation results during high combined slip conditions. Different vehicle configurations are considered, where frontwheel steering is combined with either second axle steering, rear wheel steering or individual wheel torque control. By applyingdifferent vehicle slip angles and thereby limiting the DOF of the vehicle model, the vehicle configurations are evaluated duringdifferent driving conditions similar to for example front wheel skidding and rear wheel skidding. The results show that by applyingindividual torque control to the front wheel steered vehicle, the performance is improved for all evaluated manoeuvres, and it is theonly method among the evaluated methods that significantly increases the achievable aligning torque during a rear wheel skid if thevehicle slip angle is larger than the maximum front wheel steering angle. Rear wheel steering, on the other hand, has negligibleeffect on the aligning torque during a rear wheel skid for the six-wheeler.

Nyckelord [en]
six wheeled vehicles, individual torque control, low ground friction
Nationell ämneskategori
Teknisk mekanik
Identifikatorer
URN: urn:nbn:se:kth:diva-25522OAI: oai:DiVA.org:kth-25522DiVA, id: diva2:358910
Anmärkning
QS 20120328Tillgänglig från: 2010-10-26 Skapad: 2010-10-25 Senast uppdaterad: 2017-12-12Bibliografiskt granskad
Ingår i avhandling
1. Improving a six-wheeler’sperformance both on- and off-road
Öppna denna publikation i ny flik eller fönster >>Improving a six-wheeler’sperformance both on- and off-road
2010 (Engelska)Doktorsavhandling, sammanläggning (Övrigt vetenskapligt)
Abstract [en]

In vehicles with electric transmission and independent wheel stations, there is apossibility to control propulsion, steering and suspension individually for eachwheel. This makes it possible to improve mobility in terrain as well as performanceand driving safety on road. This contribution concerns how a six wheeledelectric transmission vehicle should be modelled to enable evaluation of thedynamic behaviour both in terrain and on road. This is made by combiningmodelling of vehicle, transmission and tyre/terrain behaviour.A tyre/terrain model is needed to simulate driving on soft ground. Heretyre/terrain models for simulating driving with both rigid and pneumatic wheelson soft ground have been developed. A method to measure terrain parametersand drawbar pull for a six-wheeled vehicle on sand is proposed, tested andevaluated.To simulate a six wheeled vehicle at the handling limit on road, a vehicle modelwith a brush tyre model is used in order to get physically reasonable simulationresults during high combined slip conditions. Different vehicle configurationsare considered, where front wheel steering is combined with eithersecond axle steering, rear wheel steering or individual wheel torque control.By applying different vehicle slip angles and thereby limiting the DOF of thevehicle model, the vehicle configurations are evaluated during different drivingconditions. The results show that by applying individual torque control to thefront wheel steered vehicle, the performance is improved for all evaluated manoeuvres,and the achievable aligning torque during a rear wheel skid increasessignificantly if the vehicle slip angle is larger than the maximum front wheelsteering angle.To conclude, models of a six-wheeled vehicle with electric transmission andtyre models both for soft and rigid ground have been developed. These modelsform a simulation platform, which makes it possible to evaluate controlstrategies for the electric transmission with the purpose to improve mobility interrain as well as performance and driving safety on road. Some examples ofapplications of the models are included, e.g. improving at-the-limit handlingand pivot turning performance.

Ort, förlag, år, upplaga, sidor
Stockholm: KTH, 2010. s. viii, 69
Serie
Trita-AVE, ISSN 1651-7660 ; 2010:61
Nationell ämneskategori
Farkostteknik
Identifikatorer
urn:nbn:se:kth:diva-25519 (URN)978-91-7415-766-6 (ISBN)
Disputation
2010-11-09, F3, Lindstedtsvägen 26, KTH, Stockholm, 10:00 (Engelska)
Opponent
Handledare
Anmärkning
QC 20101026Tillgänglig från: 2010-10-26 Skapad: 2010-10-25 Senast uppdaterad: 2010-10-26Bibliografiskt granskad

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Stensson Trigell, Annika

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Noréus, OlofStensson Trigell, Annika
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Fordonsdynamik
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Vehicle System Dynamics
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