Full control modes of three-wheeled vehicles with zero body sideslip angle and zero body motions
Journal
Proceedings of the Institution of Mechanical Engineers, Part K: Journal of Multi-body Dynamics
Journal Volume
215
Journal Issue
2
Pages
103-117
Date Issued
2001
Author(s)
Abstract
By using the full control concept, zero body sideslip angle and zero body motions can be achieved. In this study, firstly, the governing equations for the six-degree-of-freedom three-wheeled vehicle model, with either two wheels on the front axle or two wheels on the rear axle are developed. With six properly chosen control inputs, there are nine full control modes for the zero body sideslip angle and zero body motion control. The sum of tractive forces, cornering forces or active suspension forces is set as the criterion for evaluating these full control modes. These control modes are compared and discussed for typical driving scenarios, and conclusions are drawn about preferable modes. © 2001, Institution of Mechanical Engineers. All rights reserved.
Type
journal article