Driving Force Distribution and Control for Maneuverability and Stability of a 6WD Skid-Steering EUGV with Independent Drive Motors
In this paper, a hierarchical driving force distribution and control strategy for a six-wheel drive (6WD) skid-steering electric unmanned ground vehicle (EUGV) with independent drive motors is presented to improve the vehicle maneuverability and stability. The proposed hierarchical strategy is based...
| Main Authors: | , , , , , |
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| Format: | Article |
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MDPI AG
2021-01-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/11/3/961 |
| _version_ | 1797408794058162176 |
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| author | Hui Zhang Huawei Liang Xiang Tao Yi Ding Biao Yu Rengui Bai |
| author_facet | Hui Zhang Huawei Liang Xiang Tao Yi Ding Biao Yu Rengui Bai |
| author_sort | Hui Zhang |
| collection | DOAJ |
| description | In this paper, a hierarchical driving force distribution and control strategy for a six-wheel drive (6WD) skid-steering electric unmanned ground vehicle (EUGV) with independent drive motors is presented to improve the vehicle maneuverability and stability. The proposed hierarchical strategy is based on a nine-degrees-of-freedom (DOFs) dynamics model of 6WD skid-steering EUGV with a vehicle system dynamics model, wheel dynamics model, and tire model. In the proposed hierarchical strategy, the upper layer controller calculates the resultant driving force and yaw moment to control the vehicle motion states to track the desired ones by using the integral sliding mode control (ISMC) and proportion–integral–differential (PID) control methods. In the lower layer controllers, the driving force distribution method is adopted to allocate torques to the six motors. An objective function is proposed and composed of the longitudinal tire workload rates and weighting factors, considering the inequality constraints and equality constraints, which is solved by using the active set method. In order to evaluate the effectiveness of the proposed method, experiments with two types of scenarios were conducted. Comparative studies were also conducted with the other two methods used in the literature. The experimental results show that better performance can be achieved with the proposed control strategy in vehicle maneuverability and stability. |
| first_indexed | 2024-03-09T04:04:42Z |
| format | Article |
| id | doaj.art-8c4bc04a14b8409592d93a63862cbc3a |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-03-09T04:04:42Z |
| publishDate | 2021-01-01 |
| publisher | MDPI AG |
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| series | Applied Sciences |
| spelling | doaj.art-8c4bc04a14b8409592d93a63862cbc3a2023-12-03T14:08:34ZengMDPI AGApplied Sciences2076-34172021-01-0111396110.3390/app11030961Driving Force Distribution and Control for Maneuverability and Stability of a 6WD Skid-Steering EUGV with Independent Drive MotorsHui Zhang0Huawei Liang1Xiang Tao2Yi Ding3Biao Yu4Rengui Bai5Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei 230031, ChinaHefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei 230031, ChinaHefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei 230031, ChinaHefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei 230031, ChinaHefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei 230031, ChinaHefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei 230031, ChinaIn this paper, a hierarchical driving force distribution and control strategy for a six-wheel drive (6WD) skid-steering electric unmanned ground vehicle (EUGV) with independent drive motors is presented to improve the vehicle maneuverability and stability. The proposed hierarchical strategy is based on a nine-degrees-of-freedom (DOFs) dynamics model of 6WD skid-steering EUGV with a vehicle system dynamics model, wheel dynamics model, and tire model. In the proposed hierarchical strategy, the upper layer controller calculates the resultant driving force and yaw moment to control the vehicle motion states to track the desired ones by using the integral sliding mode control (ISMC) and proportion–integral–differential (PID) control methods. In the lower layer controllers, the driving force distribution method is adopted to allocate torques to the six motors. An objective function is proposed and composed of the longitudinal tire workload rates and weighting factors, considering the inequality constraints and equality constraints, which is solved by using the active set method. In order to evaluate the effectiveness of the proposed method, experiments with two types of scenarios were conducted. Comparative studies were also conducted with the other two methods used in the literature. The experimental results show that better performance can be achieved with the proposed control strategy in vehicle maneuverability and stability.https://www.mdpi.com/2076-3417/11/3/961six-wheel drive (6WD)skid steeringelectric unmanned ground vehicle (EUGV)driving force distributionvehicle motion controlmaneuverability and stability |
| spellingShingle | Hui Zhang Huawei Liang Xiang Tao Yi Ding Biao Yu Rengui Bai Driving Force Distribution and Control for Maneuverability and Stability of a 6WD Skid-Steering EUGV with Independent Drive Motors Applied Sciences six-wheel drive (6WD) skid steering electric unmanned ground vehicle (EUGV) driving force distribution vehicle motion control maneuverability and stability |
| title | Driving Force Distribution and Control for Maneuverability and Stability of a 6WD Skid-Steering EUGV with Independent Drive Motors |
| title_full | Driving Force Distribution and Control for Maneuverability and Stability of a 6WD Skid-Steering EUGV with Independent Drive Motors |
| title_fullStr | Driving Force Distribution and Control for Maneuverability and Stability of a 6WD Skid-Steering EUGV with Independent Drive Motors |
| title_full_unstemmed | Driving Force Distribution and Control for Maneuverability and Stability of a 6WD Skid-Steering EUGV with Independent Drive Motors |
| title_short | Driving Force Distribution and Control for Maneuverability and Stability of a 6WD Skid-Steering EUGV with Independent Drive Motors |
| title_sort | driving force distribution and control for maneuverability and stability of a 6wd skid steering eugv with independent drive motors |
| topic | six-wheel drive (6WD) skid steering electric unmanned ground vehicle (EUGV) driving force distribution vehicle motion control maneuverability and stability |
| url | https://www.mdpi.com/2076-3417/11/3/961 |
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