Coordinated Control of Longitudinal and Vertical Dynamics of Angular-Modular Vehicles for High Throughput on Rough Ramps

This paper proposes a longitudinal and vertical dynamics cooperative control method based on vehicle attachment ellipse optimization to enhance the matching between wheel load and attachment coefficient for the problem of low attachment coefficient and high wheel load incoherence on rugged ramps. By analyzing the coupling relationship between wheel load and adhesion, the active suspension control strategy is proposed to optimize the matching; combined with the boundary identification of adhesion ellipse, the driving torque allocation strategy integrating dynamics and stability is designed.Carsim and Matlab/Simulink simulations show that the strategy realizes the dynamic coordination of vertical load and torque allocation, which improves the maximum climbing speed by 8.1%.