400 Commonwealth Drive, Warrendale, PA 15096-0001 U.S.A. Tel: (724) 776-4841 Fax: (724) 776-5760 SAE TECHNICAL PAPER SERIES 2002-01-0968 Improving Performance of a 6x6 Off-Road Vehicle Through Individual Wheel Control Andrew Jackson and David Crolla University of Leeds Adrian Woodhouse an d Michael Parsons QinetiQ Reprinted From: Vehicle Dynamics and Simulation 2002 (SP–1656) SAE 2002 World Congress Detroit, Michigan March 4-7, 2002Downloaded from SAE International by Univ of California Berkeley, Saturday, July 28, 2018The appearance of this I SSN code at the bottom of this page indicates SAE’s co nsent that copies of the paper may be made for personal or internal use of spec ific clients. This consent is given on the condition, however, that the copier pay a per article copy fee through the Copyright Clearance Center, Inc. Operations Center, 222 Rosewood Drive, Danvers, MA 01923 for copying beyond that permitted by Sections 107 or108 of the U.S. Copyright Law. This consent does not extend to other kinds of copying such as copying forgeneral distribution, for advertising or promotional purposes, for creating new collective works, or forresale. Quantity reprint rates can be obtained from the Customer Sales and Satisfaction Department.To request permission to reprint a technical paper or permission to use copyrighted SAE publications in other works, contact the SAE Publications Group. No part of this publication may be reproduced in any form, in an electronic retrieval system or otherwise, without the prior wr itten permission of the publisher. ISSN 0148-7191 Copyright © 2002 QinetiQ Limited. Published by SAE with permission of QinetiQ Ltd. Positions and opinions advanced in this paper are those of the author(s) and not necessarily those of SAE. The author is solely responsible for the content of the paper. A process is available by whic h discussions will be printed with the paper if it is p ublished in SAE Transactions. For permission to publish this paper in full or in part, contact the SAE Publications Group. Persons wishing to submit papers to be c onsidered for presentation or publication thr ough SAE should send the manuscript or a 3 00 word abstract of a proposed manuscript to: Secretary, Engineering Meetings Board, SAE. Printed in USAAll SAE papers, standards, and selected books are abstracted and indexed in theGlobal Mobility DatabaseDownloaded from SAE International by Univ of California Berkeley, Saturday, July 28, 2018ABSTRACT This paper presents a method of control for a 6x6 series- configured Hybrid Electric Off-road Vehicle (HEOV). Thevehicle concerned is an eight-tonne logistics supportvehicle which utilizes Hub Mounted Electric Drives(HMED) at each of its six wheel stations. This set-upallows Individual Wheel Control (IWC) to beimplemented to improve vehicle handling and mobility.Direct Yaw-moment Control (DYC) is a method ofregulating individual wheel torque to control vehicle yawmotion, providing greater stability in cornering. Whencombined with both a Traction Control System (TCS) andan Anti-lock Braking System (ABS) the tire/roadinteraction is fully controlled, leading to improved controlover vehicle dynamics, whilst also improving vehiclesafety. INTRODUCTION During the last ten years, an increased awareness of theautomobile's negative effect on the environment hasprompted the automotive industry to look at alternativesto the internal combustion engine powered vehicle. TheHybrid Electric Vehicle (HEV) is one particular solution tothe problem. It relies on the combination of electricmotors and an internal combustion engine in anintegrated driveline. Although, perhaps not as ideal asthe Electric Vehicle (EV), the HEV does however hold thepotential for reduction in emissions whilst maintainingperformance comparable to a conventional vehicle withnone of the range restrictions present in the EV. The hybridization of off-road, all-wheel drive vehicles is an area that has yet to have been exploited by thea