Driving Force Distribution and Control for Maneuverability and Stability of a 6WD Skid-Steering EUGV with Independent Drive Motors

doi:10.3390/app11030961

	Driving Force Distribution and Control for Maneuverability and Stability of a 6WD Skid-Steering EUGV with Independent Drive Motors
	Zhang, Hui 1,2,3,4; Liang, Huawei 1,3,4; Tao, Xiang 1,3,4; Ding, Yi 1,3,4; Yu, Biao 1,3,4; Bai, Rengui 1,2,3,4
刊名	APPLIED SCIENCES-BASEL
	2021-02-01
卷号	11
关键词	six-wheel drive (6WD) skid steering electric unmanned ground vehicle (EUGV) driving force distribution vehicle motion control maneuverability and stability
DOI	10.3390/app11030961
通讯作者	Liang, Huawei(hwliang@iim.ac.cn)
英文摘要	Featured Application The paper proposes a hierarchical driving force distribution and control strategy for six-wheel drive (6WD) skid-steering electric unmanned ground vehicles (EUGVs) with independent drive motors to improve the vehicle maneuverability and stability. The proposed method can be applied to control the longitudinal velocity and yaw rate for distributed, independently driven electrical skid-steering vehicles, for instance, military vehicles, agricultural vehicles, and other special vehicles. 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.
资助项目	National Key Research and Development Program of China[2016YFD0701401] ; National Key Research and Development Program of China[2017YFD0700303] ; National Key Research and Development Program of China[2018YFD0700602] ; Youth Innovation Promotion Association of the Chinese Academy of Sciences[2017488] ; Key Supported Project in the Thirteenth Five-year Plan of the Hefei Institutes of Physical Science, Chinese Academy of Sciences[KP-2017-35] ; Key Supported Project in the Thirteenth Five-year Plan of the Hefei Institutes of Physical Science, Chinese Academy of Sciences[KP-2017-13] ; Key Supported Project in the Thirteenth Five-year Plan of the Hefei Institutes of Physical Science, Chinese Academy of Sciences[KP-2019-16] ; Independent Research Project of the Research Institute of Robotics and Intelligent Manufacturing Innovation, Chinese Academy of Sciences[C2018005] ; Technological Innovation Project for New Energy and Intelligent Networked Automobile Industry of Anhui Province
WOS研究方向	Chemistry ; Engineering ; Materials Science ; Physics
语种	英语
出版者	MDPI
WOS记录号	WOS:000614987600001
资助机构	National Key Research and Development Program of China ; Youth Innovation Promotion Association of the Chinese Academy of Sciences ; Key Supported Project in the Thirteenth Five-year Plan of the Hefei Institutes of Physical Science, Chinese Academy of Sciences ; Independent Research Project of the Research Institute of Robotics and Intelligent Manufacturing Innovation, Chinese Academy of Sciences ; Technological Innovation Project for New Energy and Intelligent Networked Automobile Industry of Anhui Province
内容类型	期刊论文
源URL	[http://ir.hfcas.ac.cn:8080/handle/334002/119623]
专题	中国科学院合肥物质科学研究院
通讯作者	Liang, Huawei
作者单位	1.Chinese Acad Sci, Hefei Inst Phys Sci, Hefei 230031, Peoples R China 2.Univ Sci & Technol China, Hefei 230026, Peoples R China 3.Anhui Engn Lab Intelligent Driving Technol & Appl, Hefei 230031, Peoples R China 4.Chinese Acad Sci, Innovat Res Inst Robot & Intelligent Mfg, Hefei 230031, Peoples R China
推荐引用方式 GB/T 7714	Zhang, Hui,Liang, Huawei,Tao, Xiang,et al. Driving Force Distribution and Control for Maneuverability and Stability of a 6WD Skid-Steering EUGV with Independent Drive Motors[J]. APPLIED SCIENCES-BASEL,2021,11.
APA	Zhang, Hui,Liang, Huawei,Tao, Xiang,Ding, Yi,Yu, Biao,&Bai, Rengui.(2021).Driving Force Distribution and Control for Maneuverability and Stability of a 6WD Skid-Steering EUGV with Independent Drive Motors.APPLIED SCIENCES-BASEL,11.
MLA	Zhang, Hui,et al."Driving Force Distribution and Control for Maneuverability and Stability of a 6WD Skid-Steering EUGV with Independent Drive Motors".APPLIED SCIENCES-BASEL 11(2021).