Study on the Straight-Line Running Stability of Off-Road Vehicle with In-Wheel Motors

Wen Li Xu; Sen Wu; Shao Peng Tian; Zhi Yu Lan

doi:10.4028/www.scientific.net/AMR.816-817.454

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HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 816-817Study on the Straight-Line Running Stability of...

Study on the Straight-Line Running Stability of Off-Road Vehicle with In-Wheel Motors

Abstract:

Due to the poor driving conditions, In-wheel motors of off-road vehicles may have obvious steady-state errors or dynamic errors. The straight-line running of the vehicle would have a great influence. In order to solve this problem, this paper proposes a novel control algorithm. First, the types of vehicle motor errors are analyzed. Then the influence on the motor errors is studied. Using PID control method, based on the vehicle yaw rate, the torque outputs of front motors are controlled coordinately.18 DOF vehicle dynamic model is built by Simulink. The simulation results show that this proposed control strategy can improve the vehicle running deviation.