Improving stability and controllability of multi-wheeled vehicles with motor-axle electromechanical transmissions

The use of electromechanical transmissions in multi-wheeled vehicles (MWVs) can solve both the problem of efficient power supply from the power source to the drive wheels at any wheel arrangement and optimal design problems. The developers of MWVs are especially interested in electromechanical motor-axle drive gears. However, the development of such drive gears presents a considerable challenge due to the lack of available algorithmic solutions and experience in creating traction motors. This paper suggests that the course and trajectory stability of MWVs can be improved by developing appropriate control algorithms for traction motors of drive wheels. An algorithm providing the course and trajectory dynamic stability of MWVs by changing the torques on the drive wheels is developed. An analytical relationship for determining the main vector of the control torque (optimal control law) providing the course and trajectory stability of MWVs is deduced. To implement the developed control technique, a method of calculating the torques on the drive axles is developed. The mathematical simulation procedures were used to prove the efficiency of the proposed control law for the dynamic stabilization of MKMs equipped with motor-axle electromechanical transmissions.

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