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Mobility Optimization and Control of a 4x4 HE-Vehicle in Curvilinear Motion on Stochastic Terrain

[+] Author Affiliations
Vladimir V. Vantsevich, Jesse R. Paldan

University of Alabama at Birmingham, Birmingham, AL

Blair K. Farley

Southern Company Services, Birmingham, AL

Paper No. DETC2016-59207, pp. V003T01A005; 10 pages
  • ASME 2016 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 3: 18th International Conference on Advanced Vehicle Technologies; 13th International Conference on Design Education; 9th Frontiers in Biomedical Devices
  • Charlotte, North Carolina, USA, August 21–24, 2016
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5013-8
  • Copyright © 2016 by ASME


This paper presents a new method for optimizing mobility of a 4×4 hybrid-electric vehicle through control of wheel power distribution. First, a mobility index is used to calculate optimal power distribution for improved mobility using a Lagrangian multiplier. A control algorithm is developed for altering the wheel power distribution in order to follow a trajectory path which is calculated for optimum mobility. An inverse vehicle dynamics math model of a 4×4 vehicle is used in which a task is assigned as a required velocity to test in two simulated curvilinear maneuvers.

Copyright © 2016 by ASME



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