Differential Steering Based Yaw Stabilization Using ISMC for Independently Actuated Electric Vehicles

Hu, Chuan; Wang, Rongrong; Yan, Fengjun; Huang, Yanjun; Wang, Hong; Wei, Chongfeng

doi:10.1109/tits.2017.2750063

Cited by 80 publications

(43 citation statements)

References 40 publications

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“…And the composite nonlinear feedback technique was applied to design the controller's nominal part to depress overshoots and avoid steady-state errors considering the tire force saturations. The simulation results verified the effectiveness of the proposed control approach in the case of the steering failure [13].…”

Section: Introductionsupporting

confidence: 57%

“…With the emergence of intelligent vehicle systems (IVS), the 4WID system can also be used to solve the path tracking problem [3,4]. However, there are three functions of the DSS: (1) Steering the vehicle without the lateral turning of the wheel, i.e., skid steering [5,6]; (2) Assisting the driver to steer the vehicle, that is, differential drive assisted steering (DDAS) [1,2,7,8]; (3) Steering the vehicle instead of the regular steering system [9][10][11][12][13]. Skid steering was realized by giving a tire speed differential between the left and right tires [5,6].…”

Section: Introductionmentioning

confidence: 99%

“…The simulation results showed that, compared with the traditional servo controller and the ordinary continuous controller, the proposed controller can significantly reduce the energy consumption and improve the steering stability of the vehicle [10]. The literature [11][12][13] investigates the DSS in the case of the complete failure of the regular steering system. To achieve the yaw stabilization, a robust H ∞ output-feedback controller of the DSS was designed and parametric uncertainties for the cornering stiffness and the external disturbances were considered to guarantee the vehicle robustness [11].…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Differential Steering Control of Four-Wheel Independent-Drive Electric Vehicles

2018

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This paper investigates the skid steering of four-wheel independent-drive (4WID) electric vehicles (EV) and a differential steering of a 4WID EV with a steer-by-wire (SBW) system in case of steering failure. The dynamic models of skid steering vehicle (SSV) and differential steering vehicle (DSV) are established and the traditional front-wheel steering vehicle with neutral steering characteristics is selected as the reference model. On this basis, sideslip angle observer and two different sliding mode variable structure controllers for SSV and DSV are designed respectively. Co-simulation results of CarSim and Simulink show that the designed controller for DSV not only controls the yaw rate and sideslip angle of DSV to track those of the reference model exactly, but also ensures the robustness of the controlled system compared with the designed controller for SSV. And the differential driving torque needed to realize the differential steering is much smaller than that for skid steering, which indicates the possibility of the differential steering in case of steering failure.

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Section: Introductionsupporting

confidence: 57%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Differential Steering Control of Four-Wheel Independent-Drive Electric Vehicles

2018

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“…From the perspective of system configuration, EVs can be categorized into two distinct types: centrally driven type and distributed-drive type. Compared with the centrally driven layout, the latter case incorporates an electric motor in the hub of a wheel for direct drive, and it provides numerous advantages, including more available chassis space, prompt system response and high energy efficiency [5][6][7][8][9]. In this context, distributed-drive EVs are attracting more attention from both academia and automobile industry and are also considered as the direction of current and future EVs.…”

Section: Introductionmentioning

confidence: 99%

Comprehensive Analysis and Optimization of Dynamic Vibration-Absorbing Structures for Electric Vehicles Driven by In-Wheel Motors

et al. 2019

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Distributed-drive electric vehicles (EVs) replace internal combustion engine with multiple motors, and the novel configuration results in new dynamic-related issues. This paper studies the coupling effects between the parameters and responses of dynamic vibration-absorbing structures (DVAS) for EVs driven by in-wheel motors (IWM). Firstly, a DVAS-based quarter suspension model is developed for distributed-drive EVs, from which nine parameters and five responses are selected for the coupling effect analysis. A two-stage global sensitivity analysis is then utilized to investigate the effect of each parameter on the responses. The control of the system is then converted into a multiobjective optimization problem with the defined system parameters being the optimization variables, and three dynamic limitations regarding both motor and suspension subsystems are taken as the constraints. A particle swarm optimization approach is then used to either improve ride comfort or mitigate IWM vibration, and two optimized parameter sets for these two objects are provided at last. Simulation results provide in-depth conclusions for the coupling effects between parameters and responses, as well as a guideline on how to design system parameters for contradictory objectives. It can be concluded that either passenger comfort or motor lifespan can be reduced up to 36% and 15% by properly changing the IWM suspension system parameters.This section introduces the two-step GSA and analyzes the effects each parameter has on the system response characteristics.

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“…The steering system performance plays an essential role in the lateral stability control for an unmanned driving vehicle with in-wheel motors [25,[29][30][31]. To clearly describe the steering wheel and the steering system, the equivalent model of the steering system is established and shown in Figure 4.…”

Section: Complexitymentioning

confidence: 99%

GA‐BPNN Based Hybrid Steering Control Approach for Unmanned Driving Electric Vehicle with In‐Wheel Motors

Wang

2018

Complexity

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The steering system is a key component of the unmanned driving electric vehicle with in-wheel motors (IWM-EV), which is closely related to the operating safety of the vehicle. To characterize the complex nonlinear structure of the steering system of unmanned driving IWM-EV, a hierarchical modeling and hybrid steering control approach are presented. Firstly the 2-DOF model is introduced for the entire vehicle system, and then the models of the steering system and the in-wheel drive system are analyzed sequentially. The steering torque control system based on electronic differential (ED) and differential assist steering (DAS) is studied. The back propagation neural network (BPNN) is used to optimize the network structure, parameters, and the weight coefficient of the hybrid steering system. The genetic algorithm (GA) is employed to optimize the initial weight of BPNN and search within a large range. The GA-BPNN model is established with the yaw moment and differential torque as the input of BPNN. Simulation and experimental results show that the proposed GA-BPNN-based hybrid steering control approach not only accelerates the convergence speed of steering torque weight adjustment but also improves the response speed and flexibility of the steering system. Through optimizing and distributing the steering torque dynamically, the proposed GA-BPNN-based control approach has inherited the advantages of both vehicle stability under ED and the steering assistance under DAS, which further guarantees the safety and stability of unmanned driving IWM-EV.

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Differential Steering Based Yaw Stabilization Using ISMC for Independently Actuated Electric Vehicles

Cited by 80 publications

References 40 publications

Differential Steering Control of Four-Wheel Independent-Drive Electric Vehicles

Differential Steering Control of Four-Wheel Independent-Drive Electric Vehicles

Comprehensive Analysis and Optimization of Dynamic Vibration-Absorbing Structures for Electric Vehicles Driven by In-Wheel Motors

GA‐BPNN Based Hybrid Steering Control Approach for Unmanned Driving Electric Vehicle with In‐Wheel Motors

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