Skid steering in 4-wheel-drive electric vehicle

This paper discusses skid steering applied to four wheel drive electric vehicles. In such vehicles, steering is achieved by differentially varying the speeds of the lines of wheels on different sides of the vehicle in order to induce yaw. Skid steer wheeled vehicles require elaborate tire model, so I choose the unite semi-empirical tire model. From this model, longitudinal and lateral tire force can be calculated by slip ratio directly. The vehicle model has 3-DOF, longitudinal, lateral and yaw direction, irrespective of suspension. Induction motor is chosen as the driven motor, and the control method is rotor flux field oriented vector control. To satisfy the requirement of the turn radius, the longitudinal slip must be controlled, so a method of slip limitation feedback is used in the simulation. When the vehicle is turning on a slippery surface, because of the drop at the coefficient of road adhesion, the drive wheels may slip. The traction control system reduces the engine torque and brings the slipping wheels into the desirable skid range. Some simulation results about the steering accuracy and maneuverability are given in the paper.