Title: Development of an integrated active yaw controller on soft terrain

Authors: H. Ragheb

Addresses: Egyptian Armed Forces, Military Technical College, Automotive Engineering Department, Al-Khalifa Al-Maamoon Street, Kobry Elkobbah, Cairo, Egypt

Abstract: Off-road vehicle manoeuvrability on soft terrain is strongly affected by the tyre-soil interaction characteristics. Remarkable enhancements in active vehicle safety systems depending on different control systems aim to improve off-road vehicle mobility. This paper concerns the development of integrated active yaw control (AYC) system, anti-lock braking system (ABS) and traction control system (TCS) for (8×8) multi-wheeled combat vehicle operating on soft terrain. TruckSim-MATLAB/Simulink vehicle model was developed to verify the developed integrated control system on soft soil. The presented integrated control system revealed an enhancement in vehicle directional stability and traction performance. Besides, it should be mentioned that the soil type has a great effect on controller efficiency as it is limiting the applied torque by the developed controller.

Keywords: off-road; mobility; AYC; active yaw control; ABS; anti-lock braking system; TCS; traction control system; TruckSim; MATLAB/Simulink; multi-wheeled vehicles; soft soil.

DOI: 10.1504/IJHVS.2023.134685

International Journal of Heavy Vehicle Systems, 2023 Vol.30 No.6, pp.677 - 691

Received: 15 Jul 2020
Accepted: 17 Jul 2020
Published online: 06 Nov 2023 *

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