多装輪車両の定常旋回における最適駆動力配分と操舵角

模型実験による検証

抄録

This paper presents the validation of optimal driving force distribution and steering angles of multi-wheeled vehicles with independent wheel drive and steering. The optimal driving force distribution and steering angles to the wheels were formulated by minimizing the total slip loss of all the wheels of the vehicle. Numerically obtained optimal driving force ratio and the steering angles were imposed to each wheel motor of a model size eight-wheeled vehicle for steady turn experiments. In order to validate the efficiency of the vehicle steady turn, the total driving force or total driving force squared of the wheels was measured and compared to that of the other driving force distribution methods. The experimental results showed that the proposed method of optimal driving force distribution and steering angles reduces the total driving force of multi-wheeled vehicles, and is efficient on small turn.