Rational Control of the Turning Dynamics of a Rear-Wheel Drive Vehicle with Motor Wheels

The study considers the issue of increasing the controllability of wheeled vehicles, proposes to increase the controllability of a rear-wheel drive vehicle with motor wheels when turning by eliminating the nonlinearity of the “zone of insensitivity” type. Proposed to use the calibrated system with two degrees of freedom, with the possibility of using both kinematic and dynamic turning methods. As a result, an equation is obtained that allows organizing the control of turning a rear-wheel drive vehicle with motor wheels in the absence of a nonlinearity of the “zone of insensitivity” type. To realize the specified turn, it is necessary to measure the vehicle mass, wheel rolling resistance coefficient, average angle of rotation of the guide wheels, position of the vehicle's center of mass, and torques on the rear drive wheels. The results obtained are important for improving the controllability of wheeled vehicles, ensuring the safety and reliability of their operation.