This paper describes torque distribution control of six-wheeled in-wheel motor vehicles by considering the friction circle of each wheel for enhanced terrain-driving performance. Using control allocation, the proposed torque distribution algorithm determines the torque command to each wheel, by considering the size of the friction circle. The friction circle of each wheel is estimated using a linear parameterized tyre model with two threshold values. The parameters and the threshold values are computed from measurements of the wheel speed, the yaw rate, the acceleration and the torque command signals using a recursive least-squares method. Simulation studies were conducted using TruckSim and MATLAB/Simulink co-simulations. It was confirmed that the proposed friction circle estimation algorithm can be successfully used for torque distribution to enhance the terrain-driving and hill-climbing performance.
DingLGaohDengZLiuZ. Slip-ratio-coordinated control of planetary exploration robots traversing over deformable rough terrain. In: 2010 IEEE/RSJ international conference on intelligent robots and systems, Taipei, Republic of China, 18–22 October 2010, pp. 4958–4963. New York: IEEE.
2.
SchofieldBHagglundTRantzerA. Vehicle dynamics control and controller allocation for rollover prevention. In: Computer aided control system design, 2006 IEEE international conference on control applications, 2006 IEEE international symposium on intelligent control, Munich, Germany, 4–6 October 2006, pp. 149–154. New York: IEEE.
3.
KangJKimWYiKJungS. Skid steering based maneuvering of robotic vehicle with articulated suspension. SAE paper 2009-01-0437, 2009.
4.
KimWYiKLeeJ. Development of a driving control algorithm and performance verification using real-time simulator for a 6WD/6WS vehicle. SAE paper 2011-01-0437, 2011.
5.
MillikenWFMillikenDL. Race car vehicle dynamics. Warrendale, Pennsylvania: SAE International, 1995.
6.
HoseinnezhadRBab-HadiasharA. Efficient antilock braking by direct maximization. IEEE Trans Ind Electron2011; 58(8): 3593–3600.
7.
OnoEHattoriYMuragishiY. Estimation of tire friction circle and vehicle dynamics integrated control for four-wheel distributed steering and four-wheel distributed traction/braking systems. R&D Rev Toyota CRDL2005; 40(4): 7–13.
8.
DakhlallahJGlaserSMammarandSSebsadjiY. Tire–road forces estimation using extended Kalman filter and sideslip angle evaluation. In: 2008 American control conference, Seattle, Washington, USA, 11–13 June 2008, pp. 4597–4602. New York: IEEE.
DingLDengZGaoH. Interaction mechanics model for rigid driving wheels of planetary rovers moving on sandy terrain with consideration of multiple physical effects. J Field Robotics. Epub ahead of print 6 August 2014. DOI: 10.1002/rob.21533.
11.
IshigamiGMiwaANagataniKYoshidaK. Terramechanics-based model for steering maneuver of planetary exploration rovers on loose soil. J Field Robotics2007; 24(3): 233–250.
12.
Wang Fand ZhuoB. Regenerative braking strategy for hybrid electric vehicles based on regenerative torque optimization control. Proc IMechE, Part D: J Automobile Engineering2008; 222(4): 499–513.
13.
NahJYiKKimWYoonY. Torque distribution algorithm of six-wheeled skid-steered vehicles for on-road and off-road maneuverability. SAE paper 2013-01-0628, 2013.
14.
ZhangQLiuGWangYZhouT. Study of calculation method of wheel angular acceleration in ABS system. In: 2004 international conference on information acquisition, Hefei, People’s Republic of China, 21–25 June 2004, pp. 147–150. New York: IEEE.
15.
RayLR. Nonlinear tire force estimation and road friction identification: simulation and experiments. Automatica1997; 33(10): 1819–1833.
16.
YiKHedrickKLeeS. Estimation of tire–road friction using observer based identifiers. Veh System Dynamics1999; 31(4): 233–261.
17.
StephantJChararaAMeizelD. Force model comparison on the wheel–ground contact for vehicle dynamics. In: IEEE intelligent vehicle symposium, Versailles, France, 17–21 June 2002, Vol 2, pp. 589–593. New York: IEEE.
18.
VahidiAStefanopoulouAPengH. Recursive least squares with forgetting for online estimation of vehicle mass and road grade: theory and experiments. Veh System Dynamics2005; 43(1): 31–55.
19.
Jalili-KharaajooMBesharatiF. Sliding mode traction control of an electric vehicle with four separate wheel drives. In: IEEE conference on emerging technologies and factory automation, Lisbon, Portugal, 16–19 September 2003, Vol 2, pp. 291–296. New York: IEEE.
20.
Van ZantenATErhardtRLandesfeindKPfaffG. VDC systems development a yaw moment control using braking forces. JSME Int J1999; 42(2): 301–308.
21.
BurkenJJLuPWuZBahmC. Two reconfigurable flight control design methods : robust servomechanism and control allocation. J Guidance, Control, Dynamics2001; 24(3); 482–493.
22.
WangJLongoriaRG. Coordinated vehicle dynamics control with control distribution. In: 2006 American control conference, Minneapolis, Minnesota, USA, 14–16 June 2006, pp. 5348–5353. New York: IEEE.
23.
KangJYiKHeoH. Control allocation based optimal torque vectoring for 4WD electric vehicle. SAE paper 2012-01-0246, 2012.
