scholarly journals A Trajectory Tracking Control Strategy of 4WIS/4WID Electric Vehicle with Adaptation of Driving Conditions

2019 ◽  
Vol 9 (1) ◽  
pp. 168 ◽  
Author(s):  
Hongyu Zheng ◽  
Shuo Yang
Keyword(s):  
Energy Saving ◽  
Electric Vehicle ◽  
Trajectory Tracking ◽  
Sliding Mode ◽  
Model Simulation ◽  
Performance Objective ◽  
Tire Force ◽  
Yaw Rate ◽  
Tire Wear ◽  
Driving Torque

The Four Wheel Independent Steering/Driving (4WIS/4WID) electric vehicle has the advantage that the rotation angle and driving torque of each wheel can be independently and accurately controlled. In this paper, a trajectory tracking strategy based on the hierarchical control method is designed. In the path tracking layer, the nonlinear state feedback controller is used, and the neural network Proportion Integration Differentiation (NNPID) controller is designed to track the desired path and to obtain the desired yaw rate. By tracking the desired yaw rate and vehicle speed, the terminal sliding mode controller in vehicle dynamics control layer calculates the desired resultant tire force. In the tire force distribution layer, the multiple optimization objectives, including vehicle stability performance objective, energy-saving performance objective, and tire wear energy consumption objectives are determined and the weight coefficient is adaptive to different working conditions based on fuzzy logic theory. Finally, the wheel steering angle and driving torque of each wheel are calculated by the nonlinear three-degree-of-freedom vehicle model. Simulation results show that it realizes the adaptive control of tire force while tracking the desired trajectory, improves the stability and energy saving of the vehicle, and effectively reduces tire wear.

scholarly journals Trajectory Tracking Control of Intelligent Electric Vehicles Based on the Adaptive Spiral Sliding Mode

2021 ◽  
Vol 11 (24) ◽  
pp. 11739
Author(s):  
Yanxin Nie ◽  
Minglu Zhang ◽  
Xiaojun Zhang
Keyword(s):  
Electric Vehicles ◽  
Trajectory Tracking ◽  
Control Strategy ◽  
Sliding Mode ◽  
Sliding Mode Controller ◽  
Lateral Deviation ◽  
Distribution Method ◽  
Tire Force ◽  
Tracking Model ◽  
Vehicle Trajectory

Aiming at the multi-objective control problem of the tracking effect and vehicle stability in the process of intelligent vehicle trajectory tracking, a coordinated control strategy of the trajectory tracking and stability of intelligent electric vehicles is proposed based on the hierarchical control theory. The vehicle dynamics model and trajectory tracking model are established. In order to tackle the chattering problem in the traditional sliding mode controller, an Adaptive Spiral Sliding Mode controller is designed by taking the derivative of the controller as the upper controller, which is intended to reduce the heading deviation and lateral deviation in the trajectory tracking process whilst ensuring the stability of the vehicle itself. In the lower controller, a four-wheel tire force optimal distribution method is designed. According to the requirements of the upper controller, combined with the yaw stability of the vehicle, the directional control distribution of the four-wheel tire force is realized. A joint simulation model was built based on CarSim and Simulink, and simulation experiments were performed. The results show that the proposed control strategy can effectively control the heading deviation and lateral deviation in the vehicle trajectory tracking while ensuring the lateral stability of the vehicle.

scholarly journals Lane Departure Avoidance Control for Electric Vehicle Using Torque Allocation

2018 ◽  
Vol 2018 ◽  
pp. 1-10 ◽  
Author(s):  
Yiwan Wu ◽  
Zhengqiang Chen ◽  
Rong Liu ◽  
Fan Li
Keyword(s):  
Electric Vehicle ◽  
Control Algorithm ◽  
Sliding Mode ◽  
Lower Layer ◽  
Yaw Rate ◽  
Lane Departure ◽  
Dangerous Driving ◽  
Braking Torque ◽  
Avoidance Control ◽  
Yaw Moment

This paper focuses on the lane departure avoidance system for a four in-wheel motors’ drive electric vehicle, aiming at preventing lane departure under dangerous driving conditions. The control architecture for the lane departure avoidance system is hierarchical. In the upper controller, the desired yaw rate was calculated with the consideration of vehicle-lane deviation, vehicle dynamic, and the limitation of road adhesion. In the middle controller, a sliding mode controller (SMC) was designed to control the additional yaw moment. In the lower layer, the yaw moment was produced by the optimal distribution of driving/braking torque between four wheels. Lane departure avoidance was carried out by tracking desired yaw response. Simulations were performed to study the effectiveness of the control algorithm in Carsim®/Simulink® cosimulation. Simulation results show that the proposed methods can effectively confine the vehicle in lane and prevent lane departure accidents.

scholarly journals Sliding Mode-Based Slip Control of Compact Electric Vehicle Truck for Varying Load and Yaw Rate

2021 ◽  
Vol 11 (14) ◽  
pp. 6465
Author(s):  
Hyeon-Woo Kim ◽  
Hyun-Rok Cha
Keyword(s):  
Electric Vehicle ◽  
Sliding Mode ◽  
Variable Mass ◽  
General Purpose ◽  
Superior Performance ◽  
Normal Loading ◽  
Slip Control ◽  
Yaw Rate ◽  
Ev Model ◽  
The Impact

Vehicle stability is a critical problem, especially for compact electric vehicle (EV) trucks, owing to the impact of the cargo weight and cornering characteristics. In this study, this problem was approached by mathematically formulating the change in the understeer characteristics of an EV truck as variable mass understeer gradient (VMUG) according to the vehicle cargo weight to design the reference yaw rate without the need to consider cornering stiffness. Comparison was made with the conventional methods by applying the VMUG-based slip control while simulating the yaw rate and side-slip tracking performance of the compact EV model for normal loading and overloading conditions. The simulation results demonstrate the superior performance of the proposed method compared to the existing methods. The proposed method has the potential for application for stability enhancement in non-electric and general-purpose vehicles as well.

scholarly journals Research on Steering Stability Control of Dual In-Wheel Motor-Driven EV

2020 ◽  
Author(s):  
Xiangrong Guo ◽  
Yi Chen ◽  
Hong Li
Keyword(s):  
Electric Vehicle ◽  
Control Strategy ◽  
Sliding Mode ◽  
Slip Rate ◽  
Threshold Value ◽  
Fast Response ◽  
Stability Control ◽  
Wheel Speed ◽  
Yaw Rate ◽  
High Flexibility

Abstract The dual in-wheel motor electric vehicle has the advantages of fast response and high flexibility, while its stability and safety are more difficult to control. To study the stability control of the dual in-wheel electric vehicle when turning, firstly, the paper establishes the Ackerman model of the dual in-wheel electric vehicle, and controls the wheel speed and slip rate by the method of logical threshold value; then establishes the linear two degree of freedom model of the double hub electric vehicle, obtains the vehicle yaw moment and ideal yaw rate by using the mathematical formula, and controls the wheel speed and slip rate by the sliding mode control. The moment is distributed so that the actual yaw rate keeps tracking the ideal value. The electronic differential control strategy of wheel slip rate and wheel yaw rate is established. Finally, the control strategy is simulated by MATLAB. The simulation results show that the proposed control strategy of slip rate and yaw rate can make the vehicle drive stably when turning.

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