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조완기(Wanki Cho),안상준(Sangjun An),이호연(Hoyoun Lee),김종훈(Jonghun Kim),이경수(Kyongsu Yi),이교일(Kyo Il Lee) 한국자동차공학회 2005 한국자동차공학회 춘 추계 학술대회 논문집 Vol.2005 No.11_2
This paper presents dynamic characteristic of an off-road vehicle. For the given dimensions of terrain-wheel system constants, the relationship between the effective tractive force of tyre on an off-road and the slip ratio were calculated. In order to reflect a will of driver, it has been assumed that an accelerator is directly proportional to a throttle angle and a velocity of a vehicle is influenced by a throttle angle. Using the relationships. sliding mode control has been designed to improve stability of driving vehicle when calculated slip ratio is in excess of an arbitrary limit.