Yaw moment control for skid steered vehicle with distributed motor drive

Skid steering technology has been widely used in military vehicle because of the great advantage of internal hull volume. In order to analyze the manipulating problem of skid steered vehicle with distributed motor drive, in this paper, a yaw moment control method based on dynamic model was proposed. The 2 DOFs linear dynamic model of skid steered vehicle with distributed drive was established, which took yaw moment as input variable. Based on the dynamic model, the steady-state and transient-state performance was analyzed and discussed. Furthermore, the control method of the vehicle was proposed while the steering angle input was translated to a radius demand, then the yaw moment demand was calculated by the proposed dynamic model which is generated by the motor of both sides. The result shows that, the value of yaw moment demand is influenced by the steering characteristics of the vehicle.