A Novel Tyre Force Distribution Method for Four-Wheel Independent Driving Vehicles

Chang Lin Li; Jin Xiang Wang; Nan Chen

doi:10.4028/www.scientific.net/AMM.668-669.124

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 668-669A Novel Tyre Force Distribution Method for...

A Novel Tyre Force Distribution Method for Four-Wheel Independent Driving Vehicles

Abstract:

This paper discusses an optimal algorithm for distributing tyre force by an analytical multiplier penalty function method with which the maneuverability and stability of the four-wheel independent driving vehicles can be improved. Based on hierarchical method, the controller is divided into the upper level and lower level one. In the upper level controller, the yaw moment is calculated by sliding control to track the desired yaw rate. In the lower level controller, the analytical multiplier penalty method is utilized to distribute the yaw moment to tyre forces according with equality constraints of yaw and longitudinal acceleration. Simulation was conducted with Matlab/Simulink and Carsim. Simulation results show that the proposed method is effective.

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Periodical:

Applied Mechanics and Materials (Volumes 668-669)

Pages:

124-128

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.668-669.124

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Online since:

October 2014

Authors:

Chang Lin Li, Jin Xiang Wang, Nan Chen

Keywords:

Hierarchical Method, Multiplier Penalty Function Method, Sliding Control, Tyre Force Distribution

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