Abstract
ABSTRACTMulti-wheeled combat vehicles behavior depends not only on the available totaldriving torque but also on its distribution among the drive axles/wheels. In turn, thisdistribution is largely regulated by the drivetrain layout and its torque distributiondevices.In this paper, a multi-wheeled (8x4) combat vehicle bicycle model has beendeveloped and used to obtain the desired yaw rate and lateral acceleration tobecome reference for the design of the controllers. PID controllers were designed asupper and lower layers of the controllers. The upper controller develops thecorrective yaw moment, which is the input to the lower controller to manage theindependent torque distribution (torque vectoring) among the driving wheels. Severalsimulation maneuvers have been performed at different vehicle speeds usingMatlab/ Simulink-TruckSim to investigate the proposed torque vectoring controlstrategy. The simulation results with the proposed controller showed a significantimprovement over conventional driveline, especially at severe maneuvers.
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