Hybrid modelling of an all-electric front-wheel Ackerman steered vehicle

In this paper the model of a front wheel Ackerman steered all-electric vehicle is described. The model has been developed using a ´hybrid´ approach by fusing the conventional dynamics and kinematics equations of motion, and an intelligent fuzzy-Sugeno rule base for the front and rear tyres cornering force characteristics and a static model for the permanent magnet direct current (PMDC) actuator. The analysis due to the fuzzy-Sugeno model of the entire tyre nonlinear envelope also enables the test of the vehicle under rapid and aggressive steering demands. The vehicle was simulated for a multi-frequency steering demand with a gradual velocity increase. The analysis allowed the capability and suitability of the PMDC traction system.