Improving Performance of a 6×6 Off-Road Vehicle Through Individual Wheel Control

Andrew Jackson; David Crolla; Adrian Woodhouse; Michael Parsons

doi:10.4271/2002-01-0968

2002-03-04

Improving Performance of a 6×6 Off-Road Vehicle Through Individual Wheel Control 2002-01-0968

This paper presents a method of control for a 6×6 series-configured Hybrid Electric Off-road Vehicle (HEOV). The vehicle concerned is an eight-tonne logistics support vehicle which utilizes Hub Mounted Electric Drives (HMED) at each of its six wheel stations. This set-up allows Individual Wheel Control (IWC) to be implemented to improve vehicle handling and mobility. Direct Yaw-moment Control (DYC) is a method of regulating individual wheel torque to control vehicle yaw motion, providing greater stability in cornering. When combined with both a Traction Control System (TCS) and an Anti-lock Braking System (ABS) the tire/road interaction is fully controlled, leading to improved control over vehicle dynamics, whilst also improving vehicle safety.

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Improving Performance of a 6×6 Off-Road Vehicle Through Individual Wheel Control 2002-01-0968

SAE MOBILUS