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Traction Control for Articulated Off-road Vehicles
Kungliga tekniska högskolan, KTH.
Volvo CE.
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
2010 (English)Conference paper, Presentation (Refereed)
Abstract [en]

Certain off-road vehicles are equipped with a type of clutches referred to as differential locks. A driver may engage/disengage these locks to switch between two distinct operating modes: the closed mode is charac- terized by greater off-road traversability, while the open mode allows better manueverability. Many drivers lack the education and experience required to correctly judge the terrain ahead of the vehicle and therefore engage/disengage the locks in a suboptimal fashion. An automatic differential locking strategy is hence desired. This paper compares three such traction control algorithms of the on/off variety, all derived from the same underlying kinematic vehicle model but each relying on the availability of different output signals. The validity of the kinematic model and the algorithms’ sensitivity to the values assumed by a couple of unobservable states, the wheel slip angles, is in- vestigated by comparison to an existing articulated hauler model in ADAMS— an environment for simulation of multibody dynamics.

Place, publisher, year, edition, pages
Research subject
Control Engineering
URN: urn:nbn:se:ltu:diva-35630Local ID: a3d6c109-ba76-450c-8c0d-2412ac9e88e1OAI: diva2:1008883
Reglermöte 2010 : 08/06/2010 - 09/06/2010
Optimerad framkomlighet för tunga terrängfordon
Godkänd; 2010; 20110628 (ysko)Available from: 2016-09-30 Created: 2016-09-30Bibliographically approved

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