Model Following Control of Hybrid 4WD Vehicles

Amano, Yasushi; Asano, K.; Okada, Shuichi; Mori, Takayuki; Iwama, N.

doi:10.1016/s1474-6670(17)51863-7

Cited by 3 publications

(1 citation statement)

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“…As a good example of the use of modern control technique for individual wheel drive vehicle the investigations provided by Toyota Research Laboratory can be considered [4]. In spite of the steady interest t o that problem the less attention is paid to it in comparison with the study of Four Wheel Steering (FWS) cars.…”

Section: Introductionmentioning

confidence: 99%

Control of independent rear wheel drive vehicle

Shavrin¹

Proceedings of 1995 34th IEEE Conference on Decision and Control

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T h e problem of the wheel torque control for independent rear wheel drive vehicle is considered. This problem is especially relevant in a view of the modern trends to integrating the Antilock Braking Systems (ABS) and Antislip Control Systems (ACS) in the car. T h e plant model is presented by fifth order differential system including three degree of freedom single rriass flat model of the car and second order model of wheel dynamics. It is shown by simple considerations that order of the plant can be reduced to the second one. T h e single track vehicle model is shown to be used not only at a constant riding speed but a t the high velocities with limited variations as well. The reference inputs are defined for torque controlled vehicle to be like Four Wheel Steering (FWS) one with high maneuverability a t a low speed and high stability a t a high speed. So FWS system is discussed t o be redundant in the car with ABS and ACS. The sliding mode technique is applied for control design. Naturality of the use of sliding modes is caused by discontinuous mode of the actuators of ABS(ACS). A comparison between controlled and conventional cars is provided by computer simulations under various driving conditions such as lateral disturbance, lane change, turn a t a low speed and variations of mass distribution.

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Section: Introductionmentioning

confidence: 99%