Automatic Traction Control for Articulated Off-Road Vehicles

Construction equipment is designed to maintain good traction while operating in difficult off-road conditions. To curb wheel slip, the vehicles are equipped with differential locks. The locks may be engaged/disengaged switch between two distinct modes: closed mode characterized by greater passability, open allows better manueverability. This brief compares three on/off lock control algorithms. algorithms based on same kinematic vehicle model, but each relies availability of output signals from different sensors. validity model and algorithms’ sensitivity values assumed a couple unobservable states, slip angles, investigated comparison realistic articulated hauler multibody physics simulator MSC ADAMS.