Emergency Control Strategy for Distributed Skid-Steering Vehicles

Xueyuan Li; Chenze Jiang; Jin Chen; Yu Zhang

doi:10.15918/j.jbit1004-0579.20109

Emergency Control Strategy for Distributed Skid-Steering Vehicles

Xueyuan Li^*, Chenze Jiang, Jin Chen, Yu Zhang

^*Corresponding author for this work

School of Mechanical Engineering

Research output: Contribution to journal › Article › peer-review

1 Citation (Scopus)

Abstract

Based on the lateral properties of tire and the input variable of braking force, a 2-DOF lateral dynamic analytical model of wheel skid-steered vehicle is established in this paper. Based on the model, the steady-state yaw velocity gain and steering radius in the process of skid-steering are analyzed theoretically. Then the control boundary and distribution strategy of the braking force are given. An all-terrain vehicle was used to carry out a real vehicle test, and verified that the strategy can ensure the safe steering of the vehicle when the driving force is lost.

Original language	English
Pages (from-to)	75-81
Number of pages	7
Journal	Journal of Beijing Institute of Technology (English Edition)
Volume	30
DOIs	https://doi.org/10.15918/j.jbit1004-0579.20109
Publication status	Published - Jun 2021

Keywords

Control strategy
Distributed-drive
Emergency control
Lateral dynamics
Skid-steering

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10.15918/j.jbit1004-0579.20109

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@article{70e7c8d114dd4438826f02525e37af31,

title = "Emergency Control Strategy for Distributed Skid-Steering Vehicles",

abstract = "Based on the lateral properties of tire and the input variable of braking force, a 2-DOF lateral dynamic analytical model of wheel skid-steered vehicle is established in this paper. Based on the model, the steady-state yaw velocity gain and steering radius in the process of skid-steering are analyzed theoretically. Then the control boundary and distribution strategy of the braking force are given. An all-terrain vehicle was used to carry out a real vehicle test, and verified that the strategy can ensure the safe steering of the vehicle when the driving force is lost.",

keywords = "Control strategy, Distributed-drive, Emergency control, Lateral dynamics, Skid-steering",

author = "Xueyuan Li and Chenze Jiang and Jin Chen and Yu Zhang",

note = "Publisher Copyright: {\textcopyright} 2020 Journal of Beijing Institute of Technology",

year = "2021",

month = jun,

doi = "10.15918/j.jbit1004-0579.20109",

language = "English",

volume = "30",

pages = "75--81",

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TY - JOUR

T1 - Emergency Control Strategy for Distributed Skid-Steering Vehicles

AU - Li, Xueyuan

AU - Jiang, Chenze

AU - Chen, Jin

AU - Zhang, Yu

PY - 2021/6

Y1 - 2021/6

N2 - Based on the lateral properties of tire and the input variable of braking force, a 2-DOF lateral dynamic analytical model of wheel skid-steered vehicle is established in this paper. Based on the model, the steady-state yaw velocity gain and steering radius in the process of skid-steering are analyzed theoretically. Then the control boundary and distribution strategy of the braking force are given. An all-terrain vehicle was used to carry out a real vehicle test, and verified that the strategy can ensure the safe steering of the vehicle when the driving force is lost.

AB - Based on the lateral properties of tire and the input variable of braking force, a 2-DOF lateral dynamic analytical model of wheel skid-steered vehicle is established in this paper. Based on the model, the steady-state yaw velocity gain and steering radius in the process of skid-steering are analyzed theoretically. Then the control boundary and distribution strategy of the braking force are given. An all-terrain vehicle was used to carry out a real vehicle test, and verified that the strategy can ensure the safe steering of the vehicle when the driving force is lost.

KW - Control strategy

KW - Distributed-drive

KW - Emergency control

KW - Lateral dynamics

KW - Skid-steering

UR - http://www.scopus.com/inward/record.url?scp=85108740490&partnerID=8YFLogxK

U2 - 10.15918/j.jbit1004-0579.20109

DO - 10.15918/j.jbit1004-0579.20109

M3 - Article

AN - SCOPUS:85108740490

SN - 1004-0579

VL - 30

SP - 75

EP - 81

JO - Journal of Beijing Institute of Technology (English Edition)

JF - Journal of Beijing Institute of Technology (English Edition)

ER -

Emergency Control Strategy for Distributed Skid-Steering Vehicles

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Keywords

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