Control allocation in the dynamic control of an eight in-wheel motored vehicle

Zhang, Rui; Zhang, Chengning

doi:10.1109/itec-ap.2014.6940957

Cited by 2 publications

(2 citation statements)

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“…Because each motor torque is independent and controllable, control allocation based on all wheel control in the dynamic control tends to realize the stability and maneuverability of vehicle by controlling the distribution of each motor's torque [5].…”

Section: Introductionmentioning

confidence: 99%

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Control Allocation Based on All Wheel Control in the Dynamic Control of Eight In-wheel Motor Drive Vehicle

Chen¹,

Zhang²,

Zhang³

2018

dtetr

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Abstract.Control Allocation based on all wheel control in the Dynamic Control of an eight in-wheel motor drive vehicle is studied in this paper which adopts the hierarchical control strategy and all the wheels are controllable(AWC), including the upper level controller and the lower level controller. The upper level controller calculates the target force (yaw moment) according to the vehicle motion states. And the lower level controller undertakes the distribution of the target force to each tire accordingly. Furthermore, the control system proposed in this paper integrates active steering with direct yaw moment control strategy.Through driver-in-loop simulation under certain conditions, the proposed control allocation is contrasted with the direct yaw moment control(DYC) which only take the longitudinal force into account when distribute the tire force. And the results show that the control allocation based on all wheel control(AWC) is better than traditional direct yaw moment control(DYC), especially in the field of trajectory following as well as in-wheel motor torque distribution.

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Section: Introductionmentioning

confidence: 99%

“…And if sliding mode control is used in the upper controller directly, it would cause the chattering problem either [5]. It could be effectively weakened if we selected an appropriate sliding mode function.…”

Section: Introductionmentioning

confidence: 99%