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

Kim, Young-Ryul; Park, Young-Won

Journal of the Korea Institute of Military Science and Technology 2010;13(6):958-966.

Young-Ryul Kim, Young-Won Park

Ajou University

6WD/6WS 차량의 통합운동제어에 관한 기초적 연구

김영렬, 박영원

아주대학교 시스템공학과

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.

Key Words: 6WD/6WS, TCS, DYC, Tire Workload, Failure Mode