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A Fundamental Study on Integrated Dynamic Control of 6WD/6WS Vehicle  

Kim, Young-Ryul (Ajou University)
Park, Young-Won (Ajou University)
Publication Information
Journal of the Korea Institute of Military Science and Technology / v.13, no.6, 2010 , pp. 958-966 More about this Journal
Abstract
In this paper, we have proposed a integrated dynamic control architecture in 6WD(wheel drive)/6WS(wheel steering) vehicle for military applications. Since 6WD/6WS vehicle has inherent redundancy, the input variables to make any desired vehicle motion can not be determined uniquely. Therefore, optimal distribution method of tire forces is introduced, which is based on workload of each tire. Simulation result shows that this is effective for the energy minimization and dynamic performance enhancement. We also suggest how the integrated control with any failure mode should be reconstructed.
Keywords
6WD/6WS; TCS; DYC; Tire Workload; Failure Mode;
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