A novel integrated chassis controller for full drive-by-wire vehicles

Song, Pan; Tomizuka, Masayoshi; Zong, Changfu

doi:10.1080/00423114.2014.991331

Cited by 72 publications

(39 citation statements)

References 19 publications

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“…In addition, the ordinary continuous control showed a worse steering dynamics response, and the servo control was the worst. Figure 6e shows the sideslip angle and sideslip angle rate in the phase plane, where the controller with the plots most centralized to the origin is supposed to perform the best stability control [10,26]. The curves related to the servo control, ordinary continuous control, and energy-saving continuous control, tended to be more focused on the origin, which means that the stability control effect of the aforementioned controllers increased gradually.…”

Section: Step Steer Maneuvementioning

confidence: 99%

“…Zhao et al [9] investigated a non-linear control allocation scheme based on the predictive control model to improve the steering stability in critical driving conditions. Song et al [10] developed a hierarchical model-based control methodology consisting of five layers to enhance vehicle stability. Li et al [11] and He et al [12] separately studied an optimal torque distribution control strategy for improving the steering stability.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Continuous Steering Stability Control Based on an Energy-Saving Torque Distribution Algorithm for a Four in-Wheel-Motor Independent-Drive Electric Vehicle

Zhai

Hou

Sun³

et al. 2018

Energies

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Abstract:In this paper, a continuous steering stability controller based on an energy-saving torque distribution algorithm is proposed for a four in-wheel-motor independent-drive electric vehicle (4MIDEV) to improve the energy consumption efficiency while maintaining the stability in steering maneuvers. The controller is designed as a hierarchical structure, including the reference model level, the upper-level controller, and the lower-level controller. The upper-level controller adopts the direct yaw moment control (DYC), which is designed to work continuously during the steering maneuver to better ensure steering stability in extreme situations, rather than working only after the vehicle is judged to be unstable. An adaptive two-hierarchy energy-saving torque distribution algorithm is developed in the lower-level controller with the friction ellipse constraint as a basis for judging whether the algorithm needs to be switched, so as to achieve a more stable and energy-efficient steering operation. The proposed stability controller was validated in a co-simulation of CarSim and Matlab/Simulink. The simulation results under different steering maneuvers indicate that the proposed controller, compared with the conventional servo controller and the ordinary continuous controller, can reduce energy consumption up to 23.68% and improve the vehicle steering stability.

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Section: Step Steer Maneuvementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Continuous Steering Stability Control Based on an Energy-Saving Torque Distribution Algorithm for a Four in-Wheel-Motor Independent-Drive Electric Vehicle

Zhai

Hou

Sun³

et al. 2018

Energies

View full text Add to dashboard Cite

show abstract

“…However, the energy-saving method of these above loaders is energy management strategy [4][5][6]. Besides, its dynamic performance, passing performance, and operation efficiency have no obvious difference with conventional diesel driven wheel loader.…”

Section: Introductionmentioning

confidence: 99%

Research on Optimized Torque-Distribution Control Method for Front/Rear Axle Electric Wheel Loader

Yang

Wang

Gao

et al. 2017

Mathematical Problems in Engineering

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Optimized torque-distribution control method (OTCM) is a critical technology for front/rear axle electric wheel loader (FREWL) to improve the operation performance and energy efficiency. In the paper, a longitudinal dynamics model of FREWL is created. Based on the model, the objective functions are that the weighted sum of variance and mean of tire workload is minimal and the total motor efficiency is maximal. Four nonlinear constraint optimization algorithms, quasi-newton Lagrangian multiplier method, sequential quadratic programming, adaptive genetic algorithms, and particle swarm optimization with random weighting and natural selection, which have fast convergent rate and quick calculating speed, are used as solving solutions for objective function. The simulation results show that compared to no-control FREWL, controlled FREWL utilizes the adhesion ability better and slips less. It is obvious that controlled FREWL gains better operation performance and higher energy efficiency. The energy efficiency of FREWL in equipment transferring condition is increased by 13-29%. In addition, this paper discussed the applicability of OTCM and analyzed the reason for different simulation results of four algorithms.

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“…Although the SMC control gain can be reduced significantly, however, the improvement of the actual dynamics control performance over the traditional SMC is not assured. Song et al applied terminal sliding mode control (TSMC) to achieve the finite-time convergence and quick responsiveness on the terminal sliding manifold [26]. If the SMC method is applied in a 4WID vehicle to achieve multiple control targets, the control effort is allocated into the driving actuators of four wheels.…”

Section: Introductionmentioning

confidence: 99%

Fault-tolerant control of electric vehicles with in-wheel motors using actuator-grouping sliding mode controllers

2016

Mechanical Systems and Signal Processing

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Although electric vehicles with in-wheel motors have been regarded as one of the promising vehicle architectures in recent years, the probability of in-wheel motor fault is still a crucial issue due to the system complexity and large number of control actuators. In this study, a modified sliding mode control (SMC) is applied to achieve fault-tolerant control of electric vehicles with four-wheel-independent-steering (4WIS) and four-wheel-independent-driving (4WID). Unlike in traditional SMC, in this approach the steering geometry is re-arranged according to the location of faulty wheels in the modified SMC. Three SMC control laws for longitudinal velocity control, lateral velocity control and yaw rate control are designed based on specific vehicle motion scenarios. In addition the actuator-grouping SMC method is proposed so that driving actuators are grouped and each group of actuators can be used to achieve the specific control target, which avoids the strong coupling effect between each control target. Simulation results prove that the proposed modified SMC can achieve good vehicle dynamics control performance in normal driving and large steering angle turning scenarios. In addition, the proposed actuator-grouping SMC can solve the coupling effect of different control targets and the control performance is improved. Abstract:Although electric vehicles with in-wheel motors have been regarded as one of the promising vehicle architectures in recent years, the probability of in-wheel motor fault is still a crucial issue due to the system complexity and large number of control actuators. In this study, a modified sliding mode control (SMC) is applied to achieve fault-tolerant control of electric vehicles with four-wheel-independent-steering (4WIS) and four-wheel-independent-driving (4WID). Unlike in traditional SMC, in this approach the steering geometry is re-arranged according to the location of faulty wheels in the modified SMC. Three SMC control laws for longitudinal velocity control, lateral velocity control and yaw rate control are designed based on specific vehicle motion scenarios. In addition the actuator-grouping SMC method is proposed so that driving actuators are grouped and each group of actuators can be used to achieve the specific control target, which avoids the strong coupling effect between each control target. Simulation results prove that the proposed modified SMC can achieve good vehicle dynamics control performance in normal driving and large steering angle turning scenarios. In addition, the proposed actuator-grouping SMC can solve the coupling effect of different control targets and the control performance is improved.

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A novel integrated chassis controller for full drive-by-wire vehicles

Cited by 72 publications

References 19 publications

Continuous Steering Stability Control Based on an Energy-Saving Torque Distribution Algorithm for a Four in-Wheel-Motor Independent-Drive Electric Vehicle

Continuous Steering Stability Control Based on an Energy-Saving Torque Distribution Algorithm for a Four in-Wheel-Motor Independent-Drive Electric Vehicle

Research on Optimized Torque-Distribution Control Method for Front/Rear Axle Electric Wheel Loader

Fault-tolerant control of electric vehicles with in-wheel motors using actuator-grouping sliding mode controllers

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