Global force potential of over-actuated electric vehicles
2010 (English)In: International Journal of Vehicle System Dynamics, ISSN 0042-3114, Vol. 48, no 9, 983-998 p.Article in journal (Refereed) Published
This paper formulates force constraints of over-actuated road vehicles. In particular, focus is put on different vehicle configurations provided with electrical drivelines. It is demonstrated that a number of vehicles possesses non-convex tyre and actuator constraints, which have an impact on the way in which the actuators are to be used. By mapping the actuator forces to a space on a global level, the potential of the vehicle motion is investigated for the vehicles studied. It is concluded that vehicles with individual drive, compared with individual brakes only, have a great potential to yaw motion even under strong lateral acceleration.
Place, publisher, year, edition, pages
2010. Vol. 48, no 9, 983-998 p.
brute force; combined slip; electric vehicles; force allocation; tyre forces; over-actuated vehicles
IdentifiersURN: urn:nbn:se:kth:diva-11016DOI: 10.1080/00423110903243232ISI: 000280153200001ScopusID: 2-s2.0-77954897616OAI: oai:DiVA.org:kth-11016DiVA: diva2:234432
QC 201007222009-09-082009-09-082016-06-08Bibliographically approved