Approach to imitate maneuvering of lunar roving vehicle under lunar gravity using a terrestrial vehicle

Electric vehicles have the potential to reduce oil dependency and decrease emissions. Electric vehicles with four-wheel independent drive have become a promising vehicle architecture. The yaw moment control has been widely applied to improve the performance of four-wheel independent drive electric vehicles. This study develops a new ideal vehicle model as a reference, which has a logarithmic functional relationship between wheel cornering stiffness and the controlled electric vehicles. A control method based on H∞ theory and Moore–Penrose inverses property is used to produce the optimal yaw moment to match the ideal vehicle model. The simulation results show that the yaw speed of the controlled electric vehicles increases with lower speed, and the yaw speed and slip angle decrease with a higher speed. The steering performance is efficiently improved when the four-wheel independent drive electric vehicles can accurately match the ideal vehicle model.

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“…The question of minimising e can be transformed into the solution M Z of the following equation 32,33 inf…”

Section: Control Methods For 4wid Evmentioning

confidence: 99%

Control for four-wheel independently driven electric vehicles to improve steering performance using H_∞ and Moore–Penrose theory

Liang

Wang

Chen

2018

Proceedings of the Institution of Mechanical Engineers, Part D:

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“…The cornering stiffness of wheels is mostly treated as a constant parameter to facilitate the controller design [34], and the lateral forces of front and rear wheels can be written as…”

Section: ) Uncertain Lateral Sideslipmentioning

confidence: 99%

“…where   (14) is a classic 2-DOF linear bicycle model [34]. Thus, the sideslip angle and the yaw rate of the off-road vehicle running on soft slopes will be controlled to track this ideal reference model.…”

Section: ) Ideal Reference Modelmentioning

confidence: 99%

Torque Vectoring and Rear-Wheel-Steering Control for Vehicle's Uncertain Slips on Soft and Slope Terrain Using Sliding Mode Algorithm

Liang

Zhao

Dong

et al. 2020

IEEE Trans. Veh. Technol.

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Off-road vehicles always experience serious uncertain longitudinal and lateral slips when running on soft and slope terrains, and some parameters of the vehicles, such as the cornering stiffness and the slip of wheels, are always not constants. In this paper, control strategies for the torque of each wheel and the rear-wheel-steering angle are proposed to maintain a stable velocity and approach an ideal reference model for the off-road vehicle by using second-order sliding mode (SOSM) techniques. An observer is constructed to estimate the actual sideslip angle of the vehicle with the consideration of uncertainties and disturbances of the system. Then, with conditions of bounded uncertainties and disturbances, composite super-twisting (ST) controllers combined with a velocity controller are designed to generate the total torque, the differential torque, and the rear-wheel-steering angle. On this basis, the proposed controllers have been verified to lead good robustness for maintaining the stable velocity and approaching the ideal reference model by using an optimal torque allocation controller at a lower layer. In comparison with conventional yaw moment controllers without the rear-wheel-steering control, the proposed controllers are shown to be more effective.

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Research on the Driving Simulation Method of a Manned Lunar Rover System for Somatosensory Representation

Yu,

Wu,

Huang

et al. 2023

Microgravity Sci. Technol.

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Approach to imitate maneuvering of lunar roving vehicle under lunar gravity using a terrestrial vehicle

Cited by 7 publications

References 30 publications

Control for four-wheel independently driven electric vehicles to improve steering performance using H_∞ and Moore–Penrose theory

Control for four-wheel independently driven electric vehicles to improve steering performance using H_∞ and Moore–Penrose theory

Torque Vectoring and Rear-Wheel-Steering Control for Vehicle's Uncertain Slips on Soft and Slope Terrain Using Sliding Mode Algorithm

Research on the Driving Simulation Method of a Manned Lunar Rover System for Somatosensory Representation

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Approach to imitate maneuvering of lunar roving vehicle under lunar gravity using a terrestrial vehicle

Cited by 7 publications

References 30 publications

Control for four-wheel independently driven electric vehicles to improve steering performance using H∞ and Moore–Penrose theory

Control for four-wheel independently driven electric vehicles to improve steering performance using H∞ and Moore–Penrose theory

Torque Vectoring and Rear-Wheel-Steering Control for Vehicle's Uncertain Slips on Soft and Slope Terrain Using Sliding Mode Algorithm

Research on the Driving Simulation Method of a Manned Lunar Rover System for Somatosensory Representation

Contact Info

Product

Resources

About

Control for four-wheel independently driven electric vehicles to improve steering performance using H_∞ and Moore–Penrose theory

Control for four-wheel independently driven electric vehicles to improve steering performance using H_∞ and Moore–Penrose theory