2019-01-0456 Published 0 2 Apr 2019
© 2019 SAE International. All Rights Reserved.Attitude Control of the Vehicle with Six In-Wheel
Drive and Adaptive Hydro Pneumatic Suspensions
Boxin Li, Gangtie Zheng, and Zhaokui Wang Tsinghua University
Citation: Li, B., Zheng, G., and Wang, Z., “Attitude Control of the Vehicle with Six In-Wheel Drive and Adaptive Hydro Pneumatic
Suspensions,” SAE Technical Paper 2019-01-0456, 2019, doi:10.4271/2019-01-0456.
The ability of actively adjusting attitude provides a great
advantage for those vehicles used in special environ -
ments such as off-road environment with extreme
terrains and obstacles. It can improve vehicles’ stability and performance. This paper proposes an attitude control system for realizing the active attitude adjustment and vehicle motion control in the same time. The study is based on a vehicle with six wheel independent drive and six independent suspensions (6WIDIS), which is a kind of unmanned vehicle with six in-wheel drives and six independent hydro pneumatic suspen -
sions. With the hydro-pneumatic suspensions, the vehicle’s attitude can be actively adjusted. This paper develops a centralized-distributed control strategy with attitude infor -
mation obtained by multi-sensor fusion, which can coordi -
nate the complex relationship among the six wheels and suspensions. The attitude control system consists of three parts. The first part is the attitude determination that includes attitude sensors and a method to measure any quantity sensi -
tive to attitude and determine the real-time vehicle status. The second part is the attitude adjustment that computes the input torques to follow the desired roll and pitch angles. The third part is an attitude actuator that determines a desired force for each hydro pneumatic suspension. In order to simulate the practical vehicle more realistically, a dynamic model with 18 degrees of freedom is established. A torque vector controller is also developed to provide the excellent steering ability, skid-resistance and robustness for the 6WIDIS, which is the basis of the attitude control. Simulation tests are conducted to evaluate the performance of the proposed attitude control system. The simulation results show that the performance of the proposed attitude control system is good and it can improve the obstacle performance, mobility and flexibility of the vehicles.
Unmanned vehicles have been developed in order to conduct many tasks such as search and rescue in various environment [ 1, 2, 3 ]. Meanwhile, People are
trying to improve the off-road performance of unmanned vehicles for enlarging their range of applications. A six wheel independent drive and independent suspension (6WIDIS) vehicle has better acceleration and braking forces than 2 wheel drive (2WD) or 4 wheel drive (4WD) vehicles, and shows excellent performance on rough or slippery roads and even in the case of failure of one or two wheels [ 4, 5]. With the hydro
pneumatic suspensions, the 6WIDIS vehicle’s attitude can be actively adjusted by changing the stroke of each suspension. For those vehicles used in special environments such as off-road environment with extreme terrains and obstacles, the active attitude adjustment can improve vehicles’ stability, performance and mobility.
With the capability of attitude active adjustment, it is
necessary to develop an attitude control system to realize this capability. Diverse attitude control strategies for vehicles have been proposed in earlier researches. Hyunsup [ 6] proposed a
nonlinear controller for the height and leveling control. It can adjust the height of the vehicle sprung mass and regulate the roll and pitch angles of the vehicle body by an air suspension system. The algorithm of controller was developed with the sliding model control (SMC) and the sliding mode observer. In particular, the vehicle height and leveling control problem is further complicated by the variations of payloads and sys
SAE_2019-01-0456_Attitude Control of the Vehicle with Six In-Wheel Drive and Adaptive Hydro Pneumatic Suspensions
温馨提示：本文档共12页，可预览 3 页，如浏览全部内容或当前文档出现乱码,可开通会员下载原始文档
本文档由 SC 于 2023-05-19 13:50:02上传分享