A Novel Design of Traction Control Based on a Piecewise-Linear Parameter-Varying Technique for Electric Vehicles With In-Wheel Motors

Jia, Fengjiao; Liu, Zhiyuan; Zhou, Hongliang; Chen, Wen

doi:10.1109/tvt.2018.2863035

Cited by 18 publications

(6 citation statements)

References 26 publications

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“…Based on the cooperation of the optimal suspension-damping-force control, the yaw rate and lateral speed control is explored in this section. Substituting equations ( 4), ( 5), (7), and (8) into equations ( 1) and ( 2), the lateral dynamics is…”

Section: Yaw Rate and Lateral Speed Tracking Controller Designmentioning

confidence: 99%

“…The traction control for in-wheel motor vehicles is used to prevent wheels from spinning out by adjusting wheel driving torques. Currently, a lot of slip-based traction control schemes, such as, nonlinear model predictive control, 4 combined proportional-integralderivative (PID) and sliding mode control, 5 fuzzy control, 6 and combined feedforward and feedback control 7 are discussed. In addition, the maximum transmissible torque estimation (MTTE) method that needs neither chassis-velocity nor road-friction-coefficient information, is presented.…”

Section: Introductionmentioning

confidence: 99%

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Cooperative control of yaw and roll motion for in-wheel motor vehicle with semi-active suspension

Jia

Jing

Liu

et al. 2021

Proceedings of the Institution of Mechanical Engineers, Part D:

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A new vehicle motion control strategy is proposed, which synthesizes the rolling and yaw performance of vehicle by cooperating the damping force of semi-active suspension and yaw moment. To address the coupled dynamic behavior of roll and yaw motion, the modeling approach for nonlinear roll and yaw coupled dynamics is firstly employed. Furthermore, considering that the yaw and roll controllers are located in different electronic control units in practice, a distributed structure of cooperative control is presented. The key of cooperative control is that the damping force of semi-active suspension is controlled to adjust the roll dynamic, the front- and rear-axle load transfer cooperating the yaw motion; the yaw stability controller is designed to improve the yaw dynamic performance. To design the suspension damping force controller, the effect of the suspension damping force on roll and yaw dynamic behavior is discussed, and the piecewise-linear damping-force model with drive current as input is established. Moreover, the optimal suspension drive current is designed to alter roll performance and load transfer. To enhance the yaw dynamic performance, the yaw stability controller based on a sliding mode method is explored, and the optimal sliding-surface parameter is discussed to synthesize the settling time and overshoot of the yaw rate. Simulation and hardware-in-loop (HIL) test results show that the cooperative control combines the roll and yaw dynamics performance well; the overshoot and oscillation of yaw rate and lateral speed can be restrained.

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Section: Yaw Rate and Lateral Speed Tracking Controller Designmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Cooperative control of yaw and roll motion for in-wheel motor vehicle with semi-active suspension

Jia

Jing

Liu

et al. 2021

Proceedings of the Institution of Mechanical Engineers, Part D:

Self Cite

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“…A working autonomous vehicle system requires information on various vehicle parameters to drive the vehicle safely. The expansion of the autonomous vehicle industry is influenced by the development of electric vehicles due to its capability to accommodate precise control strategy [1,2]. An autonomous vehicle control is designed with active elements to ensure the stability of the vehicle [3].…”

Section: Introductionmentioning

confidence: 99%

“…The tire model is used to determine the lateral and longitudinal forces acting on each wheel. Tire models such as magic formula [8], LuGre [9] and Dugoff's tire model [2] are few of the commonly used models. Furthermore, most of the tire models are dependent on the vehicle vertical force acting ( N z ) on each tire.…”

Section: Introductionmentioning

confidence: 99%

Effect of load distribution on longitudinal and lateral forces acting on each wheel of a compact electric vehicle

et al. 2020

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Autonomous vehicle is gaining popularity in the market worldwide. Most autonomous vehicle are based on electric vehicles since they are easy to control. The torque control of electric vehicles is precise and easy since electric motor torque can be manipulated by controlling the motor current. Furthermore, the load of the vehicle affects the motor torque of an electric vehicle. A higher vehicle load requires high motor torque to propel the vehicle. Often in autonomous vehicle, the vehicle parameters and stability measure are set within a limit based on standard vehicle settings. However, a vehicle loaded with extra mass on either side can offset these parameters affecting the efficiency of the controller. Thus, in this paper the effect of load on vehicle longitudinal and lateral forces is identified. A simulation model of a two rear in-wheel motored electric vehicle is developed. The model is used to analyze the effect of load on vehicle longitudinal and lateral forces. Based on the result, increasing the load on the side of direction of lateral motion increases the lateral force generated. The high lateral force causes the tires to approach the tire friction circle limit. This can affect the automated vehicle performance since the tires are in unstable region.

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“…8 Due to the installation of four in-wheel motors, brakes, and active steering, the DDEV has redundant control freedom and is a complex overdrive control system. 9,10 It also brings the problem of the driving torque coordination and the electronic differential. To solve these problems, the coordinated control of torque distribution is currently a highly popular approach.…”

Section: Introductionmentioning

confidence: 99%

Coordinated control of stability and economy based on torque distribution of distributed drive electric vehicle

Zhao

Deng

et al. 2019

Proceedings of the Institution of Mechanical Engineers, Part D:

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The torque distribution strategy of distributed drive electric vehicle is only aimed at safety or economy. A multi-target coordinated control method considering stability and economy is proposed to solve the problem of single torque distribution target, which consists of a coordination decision controller, a high-level motion controller, and a low-level allocation controller. The coordination decision controller based on the phase plane method determines whether to adopt a stability or economic control strategy. The high-level motion controller consists of a bicycle model with 2 degree of freedom, a speed tracking controller, a stability controller, and an economic controller to calculate the desired direct yaw moment of the four in-wheel motors. The stability controller based on the fuzzy algorithm tracks the desired vehicle side slip angle and yaw rate calculated by the bicycle model with 2 degree of freedom to control vehicle stability. The economical controller based on a multi-motor loss model optimizes the efficiency of the vehicle’s drive system. The low-level allocation controller is presented to provide optimally distributed torques for each wheel. Finally, the simulation and hardware-in-the-loop testing show that the coordinated control strategy can effectively improve the stability and economy of the distributed drive electric vehicle.

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A Novel Design of Traction Control Based on a Piecewise-Linear Parameter-Varying Technique for Electric Vehicles With In-Wheel Motors

Cited by 18 publications

References 26 publications

Cooperative control of yaw and roll motion for in-wheel motor vehicle with semi-active suspension

Cooperative control of yaw and roll motion for in-wheel motor vehicle with semi-active suspension

Effect of load distribution on longitudinal and lateral forces acting on each wheel of a compact electric vehicle

Coordinated control of stability and economy based on torque distribution of distributed drive electric vehicle

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