Differential steering control algorithm of 6-wheel fixed-axle drive vehicle

资源类型: 资源大小: 文档分类:交通运输 上传者:王涛

文档信息

【标题】Differential steering control algorithm of 6-wheel fixed-axle drive vehicle

【作者】 Hao Chen  Da Xu  Peng Du  Yanhua Jiang  Xiaomin Lian 

【出版日期】2018-10-01

【摘要】The differential steering is the basic steering form of the vehicle without steering mechanism. This paper concentrates on steering function of 6-wheel fixed-axle drive vehicle. The differential steering coordinate system is established as basis of theoretical analysis. Then, the triple-linear differential steering torque algorithm, based on driver's operation and characteristics of in-wheel motor, calculates steering torque. The steering torque is distributed to each wheel under guidance of directional vector. Besides, co-simulation model is built using Trucksim and Simulink to show that the differential steering control algorithm is effective.

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