scholarly journals Steering Stability Control for a Four Hub-Motor Independent-Drive Electric Vehicle with Varying Adhesion Coefficient

Energies ◽  
2018 ◽  
Vol 11 (9) ◽  
pp. 2438 ◽  
Author(s):  
Rufei Hou ◽  
Li Zhai ◽  
Tianmin Sun
Keyword(s):  
Electric Vehicle ◽  
Control Strategy ◽  
Integrated Control ◽  
Control Level ◽  
Stability Control ◽  
Sideslip Angle ◽  
Adhesion Coefficient ◽  
The Road ◽  
Direct Yaw Moment Control ◽  
Yaw Moment Control

In order to enhance the steering stability of a four hub-motor independent-drive electric vehicle (4MIDEV) on a road with varying adhesion coefficient, for example on a joint road, this paper proposes a hierarchical steering stability control strategy adapted to the road adhesion. The upper control level of the proposed strategy realizes the integrated control of the sideslip angle and yaw rate in the direct yaw moment control (DYC), where the influences of the road adhesion and sideslip angle are both studied by the fuzzy control. The lower control level employs a weight-based optimal torque distribution algorithm in which weight factors for each motor torque are designed to accommodate different adhesion of each wheel. The proposed stability control strategy was validated in a co-simulation of the Carsim and Matlab/Simulink platforms. The results of double-lane-change maneuver simulations under different conditions indicate that the proposed strategy can effectively achieve robustness to changes in the adhesion coefficient and improve the steering stability of the 4MIDEV.

scholarly journals Game-Based Hierarchical Cooperative Control for Electric Vehicle Lateral Stability via Active Four-Wheel Steering and Direct Yaw-Moment Control

Energies ◽  
2019 ◽  
Vol 12 (17) ◽  
pp. 3339 ◽  
Author(s):  
Zhao ◽  
Lu ◽  
Zhang
Keyword(s):  
Electric Vehicle ◽  
Control Strategy ◽  
Cooperative Control ◽  
Stackelberg Game ◽  
Stability Control ◽  
Lateral Stability ◽  
Direct Yaw Moment Control ◽  
Yaw Moment Control ◽  
Moment Control ◽  
Yaw Moment

A Stackelberg game-based cooperative control strategy is proposed for enhancing the lateral stability of a four-wheel independently driving electric vehicle (FWID-EV). An upper‒lower double-layer hierarchical control structure is adopted for the design of a stability control strategy. The leader‒follower-based Stackelberg game theory (SGT) is introduced to model the interaction between two unequal active chassis control subsystems in the upper layer. In this model, the direct yaw-moment control (DYC) and the active four-wheel steering (AFWS) are treated as the leader and the follower, respectively, based on their natural characteristics. Then, in order to guarantee the efficiency and convergence of the proposed control strategy, a sequential quadratic programming (SQP) algorithm is employed to solve the task allocation problem among the distributed actuators in the lower layer. Also, a double-mode adaptive weight (DMAW)- adjusting mechanism is designed, considering the negative effect of DYC. The results of cosimulation with CarSim and Matlab/Simulink demonstrate that the proposed control strategy can effectively improve the lateral stability by properly coordinating the actions of AFWS and DYC.

scholarly journals Research on Direct Yaw Moment Control Strategy of Distributed-Drive Electric Vehicle Based on Joint Observer

2021 ◽  
Vol 118 (4) ◽  
pp. 853-874
Author(s):  
Quan Min ◽  
Min Deng ◽  
Zichen Zheng ◽  
Shu Wang ◽  
Xianyong Gui ◽  
...  
Keyword(s):  
Electric Vehicle ◽  
Control Strategy ◽  
Direct Yaw Moment Control ◽  
Yaw Moment Control ◽  
Distributed Drive Electric Vehicle ◽  
Moment Control ◽  
Yaw Moment

Simulation of the Integrated ABS and DYC Control for 4WID Electric Vehicle with Regenerative Braking

2013 ◽  
Vol 313-314 ◽  
pp. 1125-1129
Author(s):  
Fu Guang Yang ◽  
Jiu Hong Ruan ◽  
Yi Bin Li
Keyword(s):  
Control Method ◽  
Integrated Control ◽  
Stability Control ◽  
Primary Objective ◽  
Regenerative Braking ◽  
Lateral Stability ◽  
Direct Yaw Moment Control ◽  
Electrical Vehicle ◽  
Yaw Moment Control ◽  
Moment Control

Study the lateral stability control method with regenerative braking for 4WID electrical vehicle whiling braking, an integrated control strategy with primary objective to enhance vehicle lateral stability was proposed, by which the regenerative braking, hydraulic braking, ABS and direct yaw moment control system were coordinated effectively. Simulation results on split-μ road indicated that compared with traditional ABS, the integrated control method can improve the lateral stability of vehicle at urgent braking condition, and increase the mileage of electric vehicles.

scholarly journals Integrated control performance of drive-by-wire independent drive electric vehicle

2019 ◽  
Vol 10 ◽  
pp. 16
Author(s):  
Ling Yu ◽  
Sunan Yuan
Keyword(s):  
Electric Vehicle ◽  
Control Method ◽  
Reference Model ◽  
Integrated Control ◽  
Vehicle Stability ◽  
Direct Yaw Moment Control ◽  
Yaw Moment Control ◽  
Moment Control ◽  
The Stability ◽  
Yaw Moment

In order to improve the stability and safety of vehicles, it is necessary to control them. In this study, the integrated control method of drive-by-wire independent drive electric vehicle was studied. Firstly, the reference model of electric vehicle was established. Then, an integrated control method of acceleration slip regulation (ARS) and direct yaw moment control (DYC) was designed for controlling the nonlinearity of tyre, and the simulation experiment was carried out under the environment of MATLAB/SIMULINK. The results showed that the vehicle lost its stability when it was uncontrolled; under the control of a single DYC controller, r and β values got some control, but the vehicle stability was still low; under the integrated control of ARS+DYC, the vehicle stability was significantly improved; under the integrated control method, the overshoot, regulation time and steady-state error of the system were all small. Under the simulation of extreme conditions, the integrated control method also showed excellent performance, which suggested the method was reliable. The experimental results suggests the effectiveness of the integrated control method, which makes some contributions to the further research of the integrated control of electric vehicles.

scholarly journals Sliding Mode Integrated Control for Vehicle Systems Based on AFS and DYC

2020 ◽  
Vol 2020 ◽  
pp. 1-8
Author(s):  
Chao Lu ◽  
Jing Yuan ◽  
Genlong Zha
Keyword(s):  
Sliding Mode ◽  
Integrated Control ◽  
Sideslip Angle ◽  
Yaw Rate ◽  
Direct Yaw Moment Control ◽  
Vehicle Systems ◽  
Yaw Moment Control ◽  
Moment Control ◽  
Two Degree Of Freedom ◽  
Yaw Moment

This paper has investigated an integrated control of active front steering (AFS) and direct yaw-moment control (DYC) for vehicle systems. First of all, the desired yaw rate and sideslip angle are estimated by using a two-degree-of-freedom (2-DOF) model of the vehicle system. On this basis, the actual sideslip angle is estimated by means of an observer. Then, the sliding mode control (SMC) is developed for AFS and DYC, respectively, to guarantee that the actual yaw rate and the sideslip angle track their reference signals. Additionally, the disturbance observer (DOB) technique is introduced to further improve the control performance. Finally, the simulation results validate the superiority of the AFS and DYC integrated control by using CarSim software during the following conditions: double lane change and side wind disturbance.

Road Adhesion Coefficient Estimation Based on the Steering Wheel Rebound After Steering

2018 ◽  
Author(s):  
Liangyao Yu ◽  
Sheng Zheng ◽  
Xiaohui Liu ◽  
Jinghu Chang ◽  
Fei Li
Keyword(s):  
Stability Control ◽  
Front Wheel ◽  
Intelligent Vehicles ◽  
Steering Wheel ◽  
Adhesion Coefficient ◽  
The Road ◽  
Whole Process ◽  
Friction Moment ◽  
Stability Control System ◽  
The Coefficient Of Friction

Accurately estimating road adhesion coefficient is very important for vehicle stability control system. In this paper, an innovation method to estimate the road adhesion coefficient is proposed. This method can be used in vehicles without additional sensors. And this method is especially suitable to be used in the intelligent vehicle equipped with steer-by-wire (SBW) system. When vehicle steers, releasing the steering wheel suddenly will result in rebound to a certain angle. When the steer wheel turns the same angle on different road whose adhesion coefficients are different, the front wheel rebound angles are different. The friction moment between the road and tire is the main factor to prevent the tire from turning back, and the coefficient of friction is equal to road adhesion coefficient when the vehicle is stationary. In this paper, the detailed dynamical models describing the whole process of the front wheel and tire rebound are established. Furthermore, the Luenberger reduced-order disturbance observer is established to estimate the friction moment, and then the adhesion coefficient is estimated. The SBW system which is usually equipped in intelligent vehicles can control the steer moment and steer angle accurately. When the steer wheel turns to certain angle, the SBW system is able to stop outputting torque quickly and timely, which is important for improving the experiment accuracy. In this paper, the SBW system is used to conduct an experiment on different roads. The experiment results demonstrate the validity of this method.

Vehicle Stability Control on Tire Burst Steering and Braking Condition With Active Steering System

2018 ◽  
Author(s):  
Yaqi Dai ◽  
Jian Song ◽  
Liangyao Yu
Keyword(s):  
Control Strategy ◽  
Steering System ◽  
Stability Control ◽  
Steering Angle ◽  
Tire Force ◽  
Vehicle Stability Control ◽  
Yaw Moment Control ◽  
Moment Control ◽  
Control Layer ◽  
Yaw Moment

By analyzing the key safety problems under the front-outside-tire burst steering condition, a vehicle stability control strategy is proposed in this paper, which is based on active front steering and differential braking systems. Taken both the handling stability and safety into account, we divided the whole control strategy into two layers, which are yaw moment control layer and the additional steering angle & tire force distribution layer. To solve the similar linear problem concisely, the LQR control is adopted in the yaw moment control layer. To achieve the goal of providing enough additional lateral force and yaw moment while keeping the burst tire in appropriate condition, the additional steering angle provided by active front steering system and the tire force distribution was adjusted step by step. To test the proposed control strategy performance, we modelling a basic front-outside-tire burst steering condition, in which the tire blows out once the vertical pressure reach the predefined critical value. Through simulation on different adhesion coefficient road, the control strategy proposed in this paper performance quite better compare with the uncontrolled one in aspect of movement, burst tire protection, handling stability.

Sign in / Sign up

Export Citation Format

Share Document