Integral sliding mode for the yaw moment control of four-wheel-drive fully electric vehicles with in-wheel motors

Goggia, Tommaso; Sorniotti, Aldo; Novellis, Leonardo De; Ferrara, Antonella; Pennycott, Andrew; Gruber, Patrick; Yunus, Ilhan

doi:10.1504/ijpt.2015.073787

Cited by 10 publications

(8 citation statements)

References 34 publications

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“…Such approach confirms applicability in vehicular systems (e.g. yaw rate control in [24,25]) avoiding the chattering specific for the conventional sliding-mode control (SMC) approaches. The control torque is derived as follows:…”

Section: A Continuous Wheel Slip Controlsupporting

confidence: 57%

Advanced control functions of decoupled electro-hydraulic brake system

Savitski

Ivanov

Schleinin

et al. 2016

2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)

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The paper presents results of analytical and experimental investigations on advanced control functions of decoupled electro-hydraulic brake system. These functions address continuous wheel slip control, variation of the brake pedal feel, and brake judder compensation. The performed study demonstrates that the electro-hydraulic brake system has improved performance by relevant criteria of safety and driving comfort both for conventional and electric vehicles.

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Section: A Continuous Wheel Slip Controlsupporting

confidence: 57%

Advanced control functions of decoupled electro-hydraulic brake system

Savitski

Ivanov

Schleinin

et al. 2016

2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)

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“…(10)-(12) imply a conservative selection of the gains of the switching part of the ISMC. In fact, if the controller designed for the case of absence of tire force and aligning moment state estimators is effective, the same controller will be effective also for the case of state estimation (Goggia et al, 2015b). ‫ܯ‬ ௭,ூௌெ consists of the sum of the nominal contribution, ‫ܯ‬ ௭,ொோ , related to the LQR, and the ISMC perturbation compensator term, ‫ܯ‬ ௭,௦௪, :…”

Section: Ismc As a Perturbation Compensatormentioning

confidence: 99%

On the Experimental Analysis of Integral Sliding Modes for Yaw Rate and Sideslip Control of an Electric Vehicle with Multiple Motors

Tota

Lenzo

et al. 2018

Int.J Automot. Technol.

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With the advent of electric vehicles with multiple motors, the steady-state and transient cornering responses can be designed based on high-level reference targets, and implemented through the continuous torque control of the individual wheels, i.e., torque-vectoring or direct yaw moment control. The literature includes several papers describing the application of the sliding mode control theory to torque-vectoring. However, the experimental implementations of sliding mode controllers on real vehicle prototypes are very limited at the moment. More importantly, to the knowledge of the authors, there is lack of experimental assessments of the performance benefits of direct yaw moment control based on sliding modes, with respect to other controllers, such as the proportional integral derivative controllers or linear quadratic regulators currenty used for stability control in production vehicles. This paper aims to reduce this gap by presenting an integral sliding mode controller for concurrent yaw rate and sideslip control. A new driving mode, the Enhanced Sport mode, is proposed, inducing sustained high values of sideslip angle, which can be safely limited to a specified threshold. The system is experimentally assessed on a four-wheeldrive electric vehicle along a wide range of maneuvers. The performance of the integral sliding mode controller is compared with that of a linear quadratic regulator during step steer tests. The results show that the integral sliding mode controller brings a significant enhancement of the tracking performance and yaw damping with respect to the more conventional linear quadratic regulator based on an augmented single-track vehicle model formulation.

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“…For simplicity, a completely linear yaw target up to the adhesion limit has been used, as the focus of this publication is the Control Allocation. More sophisticated yaw rate reference shaping can be found in [2,3].…”

Section: Reference Generatormentioning

confidence: 99%

“…Most torque vectoring systems reported in the literature fo-cus on the generation of a corrective yaw moment by the vehicle in order to follow a specified yaw rate demand. In a vehicle with two electric motors on the front and/or rear axle, a left/right torque vectoring solution is also possible [1][2][3][4]. Such topology can produce the corrective yaw moment by wheel-independent torque requests that result in a differential of longitudinal forces between the left and right sides of the vehicle.…”

Section: Introductionmentioning

confidence: 99%

Front/Rear Axle Torque Vectoring Control for Electric Vehicles

Diez

Velenis

Tavernini

et al. 2019

Journal of Dynamic Systems, Measurement, and Control

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Vehicles equipped with multiple electric machines allow variable distribution of propulsive and regenerative braking torques between axles or even individual wheels of the car. Left/right torque vectoring (i.e., a torque shift between wheels of the same axle) has been treated extensively in the literature; however, fewer studies focus on the torque shift between the front and rear axles, namely, front/rear torque vectoring, a drivetrain topology more suitable for mass production since it reduces complexity and cost. In this paper, we propose an online control strategy that can enhance vehicle agility and “fun-to-drive” for such a topology or, if necessary, mitigate oversteer during sublimit handling conditions. It includes a front/rear torque control allocation (CA) strategy that is formulated in terms of physical quantities that are directly connected to the vehicle dynamic behavior such as torques and forces, instead of nonphysical control signals. Hence, it is possible to easily incorporate the limitations of the electric machines and tires into the computation of the control action. Aside from the online implementation, this publication includes an offline study to assess the effectiveness of the proposed CA strategy, which illustrates the theoretical capability of affecting yaw moment that the front/rear torque vectoring strategy has for a given set of vehicle and road conditions and considering physical limitations of the tires and actuators. The development of the complete strategy is presented together with the results from hardware-in-the-loop (HiL) simulations, using a high fidelity vehicle model and covering various use cases.

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Integral sliding mode for the yaw moment control of four-wheel-drive fully electric vehicles with in-wheel motors

Cited by 10 publications

References 34 publications

Advanced control functions of decoupled electro-hydraulic brake system

Advanced control functions of decoupled electro-hydraulic brake system

On the Experimental Analysis of Integral Sliding Modes for Yaw Rate and Sideslip Control of an Electric Vehicle with Multiple Motors

Front/Rear Axle Torque Vectoring Control for Electric Vehicles

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