Abstract
Direct yaw-moment control (DYC) is an effective method to make vehicle motion stable. In the DYC of vehicles having iii- wheel motors and active front/rear steering systems, the control input generally has redundancy. The input variables can not be decided uniquely to generate same yaw-moment. Therefore, we have proposed the longitudinal and lateral force distribution method to achieve the equalization of the workload for each wheel. However, when one in-wheel motor fails during yaw-rate control, yaw-moment can not be generated ideally. It is thought that yaw-rate control is influenced by this phenomenon. In this paper, we consider the robustness of yaw-rate control against one failed motor by simulations and experiments.
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More From: The Proceedings of the Transportation and Logistics Conference
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