Research on torque control strategy of wheeled unmanned platforms under extreme load

Abstract

When six-wheel independent drive (6WID) unmanned platforms operate at low speed and heavy load, centroid offset causes uneven wheel load distribution, while conventional even torque allocation fails to realize optimal regulation and exploit the merits of multi-wheel independent drive. This paper constructs a hierarchical control framework with vehicle mass, centroid position, and road gradient as inputs. The upper layer adopts mass-compensated feedforward-PI control to output total driving torque, and the lower layer designs a dynamic torque allocation strategy subject to dynamic and actuator saturation constraints to generate real-time wheel torque commands. Multi-condition simulations verify that the proposed scheme reduces the overall peak three-axle slip ratio by 6.8%∼42.2%, effectively narrowing wheel slip discrepancy and improving vehicle stability under low-speed heavy-load conditions.