Interaction between autonomous vehicles and road surface

Wheel dynamics is a significant component of vehicle dynamics and performance analysis. This paper presents an innovative method of studying wheel dynamics and wheel performance control based on the inverse dynamics formulation of the problem. Such an approach opens up a new way to the optimization and control of both vehicle dynamics and vehicle performance by optimizing and controlling power distribution to the drive wheels. An equation of motion of a wheel is derived first from the wheel power balance equation that makes the equation more general. This equation of motion is considered the basis for studying both direct and inverse wheel dynamics. The development of a control strategy on the basis of the inverse wheel dynamics approach includes wheel torque control that provides a wheel with both the referred angular velocity and rolling radius and also with the required functionals of quality. An algorithm for controlling the angular velocity is presented as the first part in the implementation of the developed strategy of the inverse wheel dynamics/performance control.

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