TY - GEN
T1 - Yaw moment control for skid steered vehicle with distributed motor drive
AU - Hu, Jibin
AU - Ni, Jun
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/10/30
Y1 - 2014/10/30
N2 - Skid steering technology has been widely used in military vehicle because of the great advantage of internal hull volume. In order to analyze the manipulating problem of skid steered vehicle with distributed motor drive, in this paper, a yaw moment control method based on dynamic model was proposed. The 2 DOFs linear dynamic model of skid steered vehicle with distributed drive was established, which took yaw moment as input variable. Based on the dynamic model, the steady-state and transient-state performance was analyzed and discussed. Furthermore, the control method of the vehicle was proposed while the steering angle input was translated to a radius demand, then the yaw moment demand was calculated by the proposed dynamic model which is generated by the motor of both sides. The result shows that, the value of yaw moment demand is influenced by the steering characteristics of the vehicle.
AB - Skid steering technology has been widely used in military vehicle because of the great advantage of internal hull volume. In order to analyze the manipulating problem of skid steered vehicle with distributed motor drive, in this paper, a yaw moment control method based on dynamic model was proposed. The 2 DOFs linear dynamic model of skid steered vehicle with distributed drive was established, which took yaw moment as input variable. Based on the dynamic model, the steady-state and transient-state performance was analyzed and discussed. Furthermore, the control method of the vehicle was proposed while the steering angle input was translated to a radius demand, then the yaw moment demand was calculated by the proposed dynamic model which is generated by the motor of both sides. The result shows that, the value of yaw moment demand is influenced by the steering characteristics of the vehicle.
KW - Distributed Motor Drive
KW - Dynamic Model
KW - Skid Steered
KW - Yaw Moment Control
UR - http://www.scopus.com/inward/record.url?scp=84916215325&partnerID=8YFLogxK
U2 - 10.1109/ITEC-AP.2014.6941004
DO - 10.1109/ITEC-AP.2014.6941004
M3 - Conference contribution
AN - SCOPUS:84916215325
T3 - IEEE Transportation Electrification Conference and Expo, ITEC Asia-Pacific 2014 - Conference Proceedings
BT - IEEE Transportation Electrification Conference and Expo, ITEC Asia-Pacific 2014 - Conference Proceedings
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 IEEE Transportation Electrification Conference and Expo, ITEC Asia-Pacific 2014
Y2 - 31 August 2014 through 3 September 2014
ER -