Title: Scale model articulated vehicle with individual wheel drives for traction and motion control field tests

Authors: Fredrik Broström; Ulf Andersson; Thomas Gustafsson

Addresses: Control Engineering Group, Division of Systems and Interaction, Department of Computer Science, Electrical and Space Engineering, Luleå University of Technology, SE-97187 Luleå, Sweden ' Control Engineering Group, Division of Systems and Interaction, Department of Computer Science, Electrical and Space Engineering, Luleå University of Technology, SE-97187 Luleå, Sweden ' Control Engineering Group, Division of Systems and Interaction, Department of Computer Science, Electrical and Space Engineering, Luleå University of Technology, SE-97187 Luleå, Sweden

Abstract: Small scale model vehicles have been successfully used in multiple projects for research and for evaluation of models. ArtiTRAX, an experimental platform designed at Luleå University of Technology, is introduced to study the behaviour of articulated vehicles with individually driven wheels. Three case studies are presented: energy efficiency due to load transfer, online tyre parameter estimation and articulation angle control. The platform was shown to be a valuable asset for research in this area. It gives insight into the problem of controlling overactuated systems and the design hazard of using multiple integrators. ArtiTRAX is shown to be controllable through a kinematic model by only using actuation of the wheel drives. The difference of energy consumption as a function of longitudinal torque distribution indicates that the effectiveness of the motors should be considered when controlling the motor currents. The lateral distribution of motor current as a function of the articulation angle has to be considered in order to minimise the energy consumption of an articulated vehicle. Further research is necessary for understanding the mechanisms and relations between the energy consumption and the controlled motor currents.

Keywords: individual wheel drives; IWD; articulated vehicles; small scale models; energy efficiency; load transfer; traction control; motion control; field tests; vehicle testing; vehicle modelling; tyre parameter estimation; articulation angle control; overactuated systems; multiple integrators; kinematic modelling; torque distribution; motor currents; motor control; energy consumption; electric motors.

DOI: 10.1504/IJVSMT.2015.070171

International Journal of Vehicle Systems Modelling and Testing, 2015 Vol.10 No.3, pp.305 - 319

Received: 17 May 2014
Accepted: 12 Feb 2015
Published online: 28 Jun 2015 *

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