scholarly journals A sliding mode algorithm for antilock braking/traction control of EVs

2015 ◽  
Vol 18 (3) ◽  
pp. 174-182 ◽  
Author(s):  
Minh Ngoc Vu ◽  
Minh Cao Ta
Keyword(s):  
Electric Vehicles ◽  
Driving Force ◽  
Control Method ◽  
Sliding Mode ◽  
Sliding Mode Controller ◽  
Control Performance ◽  
Slip Ratio ◽  
Traction Control ◽  
Road Condition ◽  
Wheel Model

This paper presents a slip suppression controller using sliding mode control method for electric vehicles which aims to improve the control performance of Evs in both driving and braking mode. In this method, a sliding mode controller is designed to obtain the maximum driving force by suppressing the slip ratio. The numerical simulations for one wheel model under variations in mass of vehicle and road condition are performed and demonstrated to show the effectiveness of the proposed method.

Hydraulic anti-lock braking control strategy of a vehicle based on a modified optimal sliding mode control method

2018 ◽  
Vol 233 (12) ◽  
pp. 3185-3198 ◽  
Author(s):  
Jun-Cheng Wang ◽  
Ren He
Keyword(s):  
Sliding Mode Control ◽  
Control Method ◽  
Sliding Mode ◽  
Sliding Mode Controller ◽  
Control Performance ◽  
Slip Ratio ◽  
The Road ◽  
Braking System ◽  
Mode Control ◽  
The Common

The objective of this paper is to propose a modified optimal sliding mode control method for the hydraulic anti-lock braking system of a vehicle to achieve both robustness and optimal control performance. The longitudinal dynamic model of a vehicle, tyre model and hydraulic anti-lock braking system model are established, and the weakness of the common optimal sliding mode control method in designing the anti-lock braking system controller is analysed synthetically. The analyses form the basis for tracking an ideal slip ratio. A new modified optimal sliding mode controller is proposed to regulate the hydraulic anti-lock braking system for a better braking performance and robustness: the optimal sliding mode manifold function includes several virtual damping elements and infinitely small-sized items to meet the working conditions of the current optimal sliding mode control method. The control results of the proposed controller are compared with those of the common sliding mode controller. Simulation results under various road conditions demonstrate that the modified optimal sliding mode controller not only has strong robustness against uncertainties in the road adhesion coefficient but also achieves better control performance of the slip ratio.

Sliding Mode Control with Adaptive Approaching Law for Bioreactor

2011 ◽  
Vol 378-379 ◽  
pp. 521-524
Author(s):  
Li Ping Fan ◽  
Ying Song ◽  
Jun Zhang
Keyword(s):  
Sliding Mode Control ◽  
Control Method ◽  
Sliding Mode ◽  
Sliding Mode Controller ◽  
Control Performance ◽  
Reaching Law ◽  
Mode Control ◽  
Good Movement ◽  
Bioreactor System ◽  
Simulation Results

Bioprocesses have high nonlinearity and parameter uncertainty. In view of these specific natures of the bioreactor, system identification method was firstly used to linearize the nonlinear system and simplify the model of the biological reactor; then a new sliding mode controller with adaptive reaching law is designed for the reactor. The control method can not only analysis the sliding mode movement near or along the switching surface, but also design the dynamic process in trending segments of the system effectively, thus ensure good movement quality in the entire state space. Simulation results prove that the sliding mode control with adaptive reaching law can improve the control performance with negligible chattering and enhanced robustness.

The Sliding Mode Control for Traction Control System Based on Variable Optimal Slip Ratio

2013 ◽  
Vol 380-384 ◽  
pp. 485-490
Author(s):  
Jian Zhao ◽  
Jin Zhang ◽  
Bing Zhu
Keyword(s):  
Control System ◽  
Sliding Mode Control ◽  
Control Method ◽  
Sliding Mode ◽  
Road Surface ◽  
Information Measurement ◽  
Slip Ratio ◽  
Traction Control ◽  
Traction Control System ◽  
Mode Control

In this paper, the concept of intelligent tire and road surface information measurement methods are introduced, and the sliding mode algorithm for traction control system based on intelligent tire is proposed. By applying braking torque onto the driving wheels, the slip rates are adjusted to maintain within the optimal region on different road surface, and the optimal longitudinal traction is achieved. According to the simulation results on the CARSIM and MATLAB co-simulation platform of several working conditions, the TCS based on sliding mode control method improves the traction performance on different road surface effectively.

scholarly journals Stability Control for Electric Vehicles with Four In-Wheel-Motors Based on Sideslip Angle

2021 ◽  
Vol 12 (1) ◽  
pp. 42
Author(s):  
Kun Yang ◽  
Danxiu Dong ◽  
Chao Ma ◽  
Zhaoxian Tian ◽  
Yile Chang ◽  
...  
Keyword(s):  
Electric Vehicles ◽  
Control Method ◽  
Sliding Mode ◽  
Stability Control ◽  
Torque Control ◽  
Wheel Load ◽  
Sideslip Angle ◽  
Distribution Method ◽  
Load Rate ◽  
The Stability

Tire longitudinal forces of electrics vehicle with four in-wheel-motors can be adjusted independently. This provides advantages for its stability control. In this paper, an electric vehicle with four in-wheel-motors is taken as the research object. Considering key factors such as vehicle velocity and road adhesion coefficient, the criterion of vehicle stability is studied, based on phase plane of sideslip angle and sideslip-angle rate. To solve the problem that the sideslip angle of vehicles is difficult to measure, an algorithm for estimating the sideslip angle based on extended Kalman filter is designed. The control method for vehicle yaw moment based on sliding-mode control and the distribution method for wheel driving/braking torque are proposed. The distribution method takes the minimum sum of the square for wheel load rate as the optimization objective. Based on Matlab/Simulink and Carsim, a cosimulation model for the stability control of electric vehicles with four in-wheel-motors is built. The accuracy of the proposed stability criterion, the algorithm for estimating the sideslip angle and the wheel torque control method are verified. The relevant research can provide some reference for the development of the stability control for electric vehicles with four in-wheel-motors.

A novel robust finite-time tracking control of uncertain robotic manipulators with disturbances

2020 ◽  
pp. 107754632098244
Author(s):  
Hamid Razmjooei ◽  
Mohammad Hossein Shafiei ◽  
Elahe Abdi ◽  
Chenguang Yang
Keyword(s):  
Finite Time ◽  
Control Method ◽  
Sliding Mode ◽  
Robotic Manipulators ◽  
Sliding Mode Controller ◽  
Time Varying ◽  
State Variables ◽  
Terminal Sliding Mode ◽  
Control Laws ◽  
Finite Time Boundedness

In this article, an innovative technique to design a robust finite-time state feedback controller for a class of uncertain robotic manipulators is proposed. This controller aims to converge the state variables of the system to a small bound around the origin in a finite time. The main innovation of this article is transforming the model of an uncertain robotic manipulator into a new time-varying form to achieve the finite-time boundedness criteria using asymptotic stability methods. First, based on prior knowledge about the upper bound of uncertainties and disturbances, an innovative finite-time sliding mode controller is designed. Then, the innovative finite-time sliding mode controller is developed for finite-time tracking of time-varying reference signals by the outputs of the system. Finally, the efficiency of the proposed control laws is illustrated for serial robotic manipulators with any number of links through numerical simulations, and it is compared with the nonsingular terminal sliding mode control method as one of the most powerful finite-time techniques.

The Simulation Analysis of Semi-Active Suspension System in Vehicle Based on Sliding Mode Control with Varying Structure

2011 ◽  
Vol 216 ◽  
pp. 96-100
Author(s):  
Jing Jun Zhang ◽  
Wei Sha Han ◽  
Li Ya Cao ◽  
Rui Zhen Gao
Keyword(s):  
Control Method ◽  
Simulation Analysis ◽  
Reference Model ◽  
Sliding Mode ◽  
Tracking Error ◽  
Active Suspension ◽  
Suspension System ◽  
Sliding Mode Controller ◽  
Error Dynamics ◽  
Dynamic Quality

A sliding mode controller for semi-active suspension system of a quarter car is designed with sliding model varying structure control method. This controller chooses Skyhook as a reference model, and to force the tracking error dynamics between the reference model and the plant in an asymptotically stable sliding mode. An equal near rate is used to improve the dynamic quality of sliding mode motion. Simulation result shows that the stability of performance of the sliding-mode controller can effectively improve the driving smoothness and safety.

scholarly journals A novel sliding mode single-loop speed control method based on disturbance observer for permanent magnet synchronous motor drives

2018 ◽  
Vol 10 (12) ◽  
pp. 168781401881527 ◽  
Author(s):  
Xudong Liu ◽  
Ke Li
Keyword(s):  
Permanent Magnet ◽  
Disturbance Observer ◽  
Control Structure ◽  
Control Method ◽  
Sliding Mode ◽  
Permanent Magnet Synchronous Motor ◽  
Speed Control ◽  
Synchronous Motor ◽  
Motor Drives ◽  
Sliding Mode Controller

A novel speed control method based on sliding mode control and disturbance observer is studied for permanent magnet synchronous motor drives. Different from the conventional speed and current cascade control structure in the field-oriented vector control, the new controller adopts the single-loop control structure, in which the speed and quadrate axes current controllers are combined together. First, a multiple-surface sliding mode controller is designed for the speed control system of permanent magnet synchronous motor. Although the sliding mode controller has the strong robustness for the matched disturbance in the system, it still cannot deal with mismatched disturbance effectively, such as external load disturbance and some parameter variations. Thus, the disturbance observer is introduced to estimate the disturbance in the motor, which is designed by combining the proposed sliding mode controller. Finally, the effectiveness is tested under various conditions by both simulation and experiment. The results show that the designed controller has the fast transient response and robustness under different operating conditions.

scholarly journals Design of Adaptive Sliding Mode Controller for Uncertain Pendulum System

2021 ◽  
Vol 39 (3A) ◽  
pp. 355-369
Author(s):  
Dina H. Tohma ◽  
Ahmed K. Hamoudi
Keyword(s):  
Control Method ◽  
Sliding Mode ◽  
Sliding Mode Controller ◽  
External Disturbances ◽  
Control Effort ◽  
Pendulum System ◽  
Adaptive Sliding Mode ◽  
Adaptive Sliding Mode Controller ◽  
Parameters Uncertainty ◽  
Better Than

This work aims to study and apply the adaptive sliding mode controller (ASMC) for the pendulum system with the existence of the parameters uncertainty, external disturbances, and coulomb friction. The adaptive sliding mode controller has several features over the conventional sliding mode control method. Firstly, the magnitude of the control signal is reduced to the minimally acceptable level defined by special conditions concerned with ASMC algorithm. Secondly, the upper bounds of uncertainties are not necessary to be defined before starting the work. For this reason, the ASMC can be used successfully to control the pendulum system with minimum control effort. These properties of the ASMC are confirming graphically by the simulation results using MATLAB 2019. The ASMC achieves an asymptotically stable system better than the Classical Sliding Mode Controller (CSMC). The unwanted phenomenon is called “chattering", which is appearing in the control action signal. These drawback properties are suppressed by employing a saturation function. Finally, the comparison between the results of the ASMC and CSMC showed that ASMC is the better one.

scholarly journals Backstepping sliding mode controller improved with fuzzy logic: Application to the quadrotor helicopter

2012 ◽  
Vol 22 (3) ◽  
pp. 315-342 ◽  
Author(s):  
Samir Zeghlache ◽  
Djamel Saigaa ◽  
Kamel Kara ◽  
Abdelghani Harrag ◽  
Abderrahmen Bouguerra
Keyword(s):  
Fuzzy Logic ◽  
Control Method ◽  
Sliding Mode ◽  
Design Method ◽  
Stability And Convergence ◽  
Sliding Mode Controller ◽  
Quadrotor Helicopter ◽  
Nonlinear Control Method ◽  
The Stability ◽  
Yaw Angle

Abstract In this paper we present a new design method for the fight control of an autonomous quadrotor helicopter based on fuzzy sliding mode control using backstepping approach. Due to the underactuated property of the quadrotor helicopter, the controller can move three positions (x;y; z) of the helicopter and the yaw angle to their desired values and stabilize the pitch and roll angles. A first-order nonlinear sliding surface is obtained using the backstepping technique, on which the developed sliding mode controller is based. Mathematical development for the stability and convergence of the system is presented. The main purpose is to eliminate the chattering phenomenon. Thus we have used a fuzzy logic control to generate the hitting control signal. The performances of the nonlinear control method are evaluated by simulation and the results demonstrate the effectiveness of the proposed control strategy for the quadrotor helicopter in vertical flights.

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