Dynamics of Individual Wheel Drive Vehicle in Sliding Mode

摘要

The paper presents an effort to advance the problem of vehicle behavior control via "axle-axle" type individual wheel drive. The goal is to make a reasonable car such that its behavior would be similar to a conventional car in the good drivingconditions but it would be able to keep its orientation and driving efficiency in the wide range of extreme situations. For this aim the vehicle parameter which represents some combination of the axle slip factors and is adjusted by the axle torquevariations is used as a control input. In effect, it is the question of vehicle parametric control. The algorithm is based on the Sliding Mode Control technique. The simulations provide a comparison between the conventional and controlled cars underdifferent simulation tests such as lane change, variation of the mass distribution. mixed braking and turn at a low speed. It is shown by theoretical analysis and Computer simulations that control goal is reached and a conflict between driver habits anddesigner wishes is practically eliminated at the same time.