Design, Modeling and Experimental Validation of Full-Vector-Control-by-Wire Skateboard Chassis

Intelligent vehicles are an emerging product of the combination of artificial intelligence technology and the modern automotive industry, and they are evolving into a new type of fully automated wheeled intelligent machine. However, the current control-by-wire chassis technology cannot meet the safety and flexibility requirements of future highly autonomous intelligent vehicles, necessitating the exploration of new perspectives and mechanisms to address current challenges. This paper proposes a novel Full-Vector-Control-by-Wire Skateboard Chassis architecture, which integrates in-wheel motors, an omnidirectional steering system, an active suspension system, and an electromechanical braking system to design a drive-brake-steer-suspension integrated electric wheel solution. System dynamics modeling and controller design are carried out for the above new chassis architecture. By building an integrated electric wheel test bench and a skateboard chassis prototype, the feasibility of the proposed solution is validated. This paper provides experiential references for the development of next-generation intelligent control-by-wire chassis.