Inverse Wheel Dynamics

Abstract

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.

Multi-wheel drive vehicle energy/fuel efficiency and traction performance: Objective function analysis

“…When B 6 A, the parameters s 0ð00Þ di ; i ¼ 1; n do not belong to the interval of (À1; 1) that is not in agreement with the problem (35) and (37). Hence, the system (41) can have a solution if, and only if, B > A.…”

“…This result can be used for designing both conventional mechanical driveline systems and mechatronic driveline systems, ''torque vectoring'' and ''torque management'' systems. As an example of such a use, paper [37] introduces a control algorithm for controlling wheel dynamics that can incorporate the achieved results in relationship of the tire slip ratios presented here. …”

Multi-vehicle convoy mobility in severe terrain conditions: Factor impact analysis, estimation and control strategy

“…The current circumferential forces of the wheels result from the wheel torques and the tire rolling radius in the driven mode, which is not constant and usually depends on the normal reaction and inflation pressure (Andreev et al, 2010). The wheel torques can be obtained by integrating the wheel angular accelerations when an inverse dynamics-based control is employed (Andreev et al, 2010;Vantsevich, 2006). For the estimation of the peak friction coefficient, an observer-based method can be used, which does not require direct measurements of this coefficient.…”