Development of control strategies of a multi-wheeled combat vehicle

Abstract

This work develops a vehicle dynamics controller for vehicle stability, manoeuvrability and turning circle reduction for an 8 × 8 heavy combat vehicle utilising both torque vectoring and third and fourth axle steering. The proposed control scheme is composed of two distinct controllers, each with their own range of operation based on vehicle speed. A feedforward zero side slip (ZSS) controller actuates the third and fourth axle steering angles. It is used for manoeuvring at speeds of 30 kph and below and for turning circle reduction. A two degrees of freedom (DOF) linear parameter varying (LPV) H∞ controller that monitors steering wheel angle and yaw rate error and uses both the rear axle steering and torque vectoring to enhance vehicle stability and manoeuvrability at speeds above 40 kph. Gaussian distribution functions are used to switch from one controller to the other. The proposed control scheme is evaluated by running simulations using a validated computer simulation (TruckSim) full vehicle model in co-simulation with the controller and developed electric powertrain in Simulink. The proposed control system is able to greatly improve vehicle stability and manoeuvrability. A turning circle reduction of 30% is obtained using the ZSS feedforward method.