축소모델 차량을 이용한 6WS 군용차량의 선회 안정성 연구

This paper proposes a steering control method based on optimal control theory to improve the vehicle maneuverability in the cornering of the 6WD(wheel drive)/6WS(wheel steer) military armored vehicle. The 6WD/6WS vehicles are believed to have good performance on off-road maneuvering and to have fail-safe capabilities when one or two of their tires are blown. However, the vehicle stability in cornering of the 6WS vehicles is not well understood in the relevant literature. In this paper, the sideslip angle and yaw rate are controlled for the improvement of maneuverability by 6 wheel independent control of steering angles. A scale-down vehicle is designed and used in the evaluation of the proposed control method.