Control of at-the-limit handling behaviour of a six-wheeler: strategies based on individual steer and individual torque control
(English)In: Vehicle System Dynamics, ISSN 0042-3114Article in journal (Other academic) Submitted
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.
six wheeled vehicles, individual torque control, low ground friction
IdentifiersURN: urn:nbn:se:kth:diva-25522OAI: oai:DiVA.org:kth-25522DiVA: diva2:358910
QS 201203282010-10-262010-10-252012-03-28Bibliographically approved