earticle

영어

The experimental results of the 「Direct Yaw-moment Control: DYC」for an in-wheeled electric vehicle show that a slippage phenomenon is necessary because of the drive mechanism. Although its algorithm could make the vehicle stable on driving and specially turning states, it is not satisfied to accommodate it for driving and stopping at right position with proper torque on each wheel. For motion control of a skid-steering in-wheeled electric vehicle on the ground considering all-terrain, it is very important to solve a mathematical model of a 6-wheel in-wheeled electric vehicle in a systematic way. The in-wheeled electric vehicle is considered as a subsystem consisting of kinematic, dynamic and drive levels. ‘The kinematic and dynamic models’ of 6 skid-steering mechanisms will be the basement of a robust algorithm for its autonomous driving against the unknown interaction ground forces.