Acceleration Slip Regulation of Distributed Driving Electric Vehicle Based on Road Identification

Chen, Qiping; Kang, Sheng; Chen, Hui; Liu, Yu; Bai, Jie

doi:10.1109/access.2020.3014904

Cited by 13 publications

(5 citation statements)

References 10 publications

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“…Active front steering (AFS) system, as one of the important factors affecting the lateral stability of the vehicle, is particularly important to improve the vehicle handling stability. As one of the main control methods, sliding mode control (SMC) is effective in the robust control of nonlinear systems (Chen et al, 2020). However, it also has some shortcomings.…”

Section: Introductionmentioning

confidence: 99%

AFS control system research of distributed drive electric vehicles by adaptive super-twisting sliding mode control

Chen,

Xiong,

et al. 2023

Transactions of the Institute of Measurement and Control

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To solve the problems of serious buffeting in traditional sliding mode control and difficulty in obtaining the derivative information of the system sliding mode surface, a distributed drive electric vehicles active front steering (AFS) control method based on adaptive super-twisting sliding mode control (ASTSMC) is proposed. Taking the yaw rate deviation as the state quantity, the stable and convergent sliding mode surface is designed to obtain the equivalent control input of the front wheel angle. The sliding mode function information is substituted into the parameters of the super-twisting algorithm; the discontinuous term is kept in the integrand function to keep the control signal continuous and weaken the system chattering; the adaptive control law is added to design the AFS controller. The co-simulation results of Matlab/Simulink and Carsim show that ASTSMC can reduce the yaw rate by 40.59% compared with no control under step steering condition. Compared with the sliding mode controller, ASTSMC has optimized the sideslip angle by 5.41% under the double line shifting condition.

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Section: Introductionmentioning

confidence: 99%

AFS control system research of distributed drive electric vehicles by adaptive super-twisting sliding mode control

Chen,

Xiong,

et al. 2023

Transactions of the Institute of Measurement and Control

Self Cite

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“…The proposed controller achieved good results in the simulation and real vehicle verification. Chen et al [16] proposed an ASR strategy by using fuzzy control. The results of their study indicated that the proposed strategy is an effective technique for improving the dynamic performance and stability of EVs.…”

Section: Introductionmentioning

confidence: 99%

Nonlinear MPC-Based Acceleration Slip Regulation for Distributed Electric Vehicles

Shi

Jiang

Shen

et al. 2022

WEVJ

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To address the problem in which wheel longitudinal slip rate directly affects the dynamics and handling stability of a vehicle under driving conditions, front and rear dual-motor four-wheel drive electric vehicles (4WD EVs) were selected as the research object in this study. An acceleration slip regulation (ASR) control strategy based on nonlinear model predictive control (NMPC) is proposed. First, the vehicle dynamics model and the Simulink/CarSim co-simulation platform were built. Second, an ASR controller with intervention and exit mechanisms was designed with the control objective of tracking reference speed or optimal slip rate. Then, considering the problem that the left and right wheels could not freely distribute torque under the condition of a split road surface, the motor output torque was determined in accordance with the wheel with the larger slip rate to enhance passibility. Finally, on the basis of the built Simulink/CarSim co-simulation platform, slip rate control simulation experiments were performed on a snow-covered road, a wet asphalt road, a docking road, and a split road. The designed controller can better track target slip rate and it exhibits better dynamic performance and stability than the method with PID control under different road conditions, especially under low speed and low adhesion road conditions, and its robustness can also meet the requirements.

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“…In [ 14 ], an adaptive sliding mode control (ASMC) algorithm using Radial Basis Function (RBF) neural network was applied to the velocity-tracking controller design, which could deal with external disturbances. Besides, Antilock Braking System (ABS), Acceleration Slip Regulation (ASR), and traction control have also been widely studied in longitudinal motion control for AMRs [ 15 , 16 , 17 ]. In the lateral motion control of AMRs, path-tracking is the main task for autonomous driving [ 18 ].…”

Section: Introductionmentioning

confidence: 99%

Nonlinear Predictive Motion Control for Autonomous Mobile Robots Considering Active Fault-Tolerant Control and Regenerative Braking

Hang

Lou

2022

Sensors

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To further advance the performance and safety of autonomous mobile robots (AMRs), an integrated chassis control framework is proposed. In the longitudinal motion control module, a velocity-tracking controller was designed with the integrated feedforward and feedback control algorithm. Besides, the nonlinear model predictive control (NMPC) method was applied to the four-wheel steering (4WS) path-tracking controller design. To deal with the failure of key actuators, an active fault-tolerant control (AFTC) algorithm was designed by reallocating the driving or braking torques of the remaining normal actuators, and the weighted least squares (WLS) method was used for torque reallocation. The simulation results show that AMRs can advance driving stability and braking safety in the braking failure condition with the utilization of AFTC and recapture the braking energy during decelerations.

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Acceleration Slip Regulation of Distributed Driving Electric Vehicle Based on Road Identification

Cited by 13 publications

References 10 publications

AFS control system research of distributed drive electric vehicles by adaptive super-twisting sliding mode control

AFS control system research of distributed drive electric vehicles by adaptive super-twisting sliding mode control

Nonlinear MPC-Based Acceleration Slip Regulation for Distributed Electric Vehicles

Nonlinear Predictive Motion Control for Autonomous Mobile Robots Considering Active Fault-Tolerant Control and Regenerative Braking

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