Vehicle dynamics control of four in-wheel motor drive electric vehicle using gain scheduling based on tyre cornering stiffness estimation

Liu, Xiong; Yu, Zhuoping; Wang, Yang; Yang, Chen; Meng, Yufeng

doi:10.1080/00423114.2012.663921

Cited by 137 publications

(62 citation statements)

References 7 publications

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“…Other authors have suggested alternative, more advanced control methodologies for direct yaw moment control than the integrated PID and FF control structure, such as second order sliding mode control (Canale et al, 2005), internal model control (Canale et al, 2009), linear quadratic regulators (Xiong et al, 2012), model predictive controllers based on conventional and explicit formulations (Chang and Gordon, 2007;Gao et al, 2014), and optimal controllers based on H-infinity and designed using linear matrix inequalities (Fallah et al, 2013;Ahn et al, 2012). There are also limited studies assessing the relative performance of different control structures.…”

Section: Introductionmentioning

confidence: 99%

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

Goggia

Sorniotti

Novellis

et al. 2015

IJPT

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Fully electric vehicles with individually controlled motor drives allow the continuous actuation of direct yaw moment control in order to enhance vehicle safety and the handling performance by achieving a set of reference understeer characteristics. For applications on real vehicles, the control structure must provide ease of implementation, robustness and tunability. This paper discusses an integral sliding mode formulation for torque-vectoring control, which fulfils these requirements. The control structure is presented with reference to the vehicle cornering performance objectives, the motivation for integral sliding mode control and the selection of the controller parameters for stability and chattering avoidance. Six different manoeuvres are simulated for an in-wheel electric motor drivetrain layout. The results show that integral sliding mode control has significant benefits over a more conventional control method based on a combined feedforward and proportional-integral-derivative controller. The integral sliding mode controller does not require fine tuning of a feedforward control action and is characterised by superior tracking performance and disturbance rejection properties. Integral sliding mode for the yaw moment control of four-wheel-drive 389

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Section: Introductionmentioning

confidence: 99%

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

Goggia

Sorniotti

Novellis

et al. 2015

IJPT

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“…In [19], a robust variable torque distribution yaw moment control was proposed for an all-wheel drive hybrid vehicle by modulating the front-to-rear torque distribution and torque differential between the left and right rear wheels. Xiong et al [20] proposed a vehicle dynamic controller for an EV with four in-wheel motor using gain scheduling based on tyre cornering stiffness estimation which was verified to stabilise the vehicle motion under critical driving conditions. Goodarzi and Daneshmand [21] proposed a novel algorithm for optimal force distribution among four wheels in an integrated Downloaded by [New York University] at 22:07 01 July 2015 Vehicle System Dynamics 3 chassis control system for an independently steered, driven and braked vehicle.…”

Section: Introductionmentioning

confidence: 99%

An optimal torque distribution control strategy for four-independent wheel drive electric vehicles

Goodarzi

Khajepour

et al. 2015

Vehicle System Dynamics

104

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In this paper, an optimal torque distribution approach is proposed for electric vehicle equipped with four independent wheel motors to improve vehicle handling and stability performance. A novel objective function is formulated which works in a multifunctional way by considering the interference among different performance indices: forces and moment errors at the centre of gravity of the vehicle, actuator control efforts and tyre workload usage. To adapt different driving conditions, a weighting factors tuning scheme is designed to adjust the relative weight of each performance in the objective function. The effectiveness of the proposed optimal torque distribution is evaluated by simulations with CarSim and Matlab/Simulink. The simulation results under different driving scenarios indicate that the proposed control strategy can effectively improve the vehicle handling and stability even in slippery road conditions.

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“…As a result, some typical simplifications, valid for the development of a classical traction controller, become invalid [12], [13]. The most significant of these simplifications is that all wheels can be modelled and controlled individually [9]. Because of the faster dynamics relative to a passenger car, coupling between the four wheels has to be introduced into the system model.…”

Section: Introductionmentioning

confidence: 99%

“…As a result most approaches employ an estimator for the transmittable force and design controllers that react to changes. Several different control strategies like slidingmode [7], fuzzy logic [8], adaptive schemes [9], model predictive control [10], or hybrid system approaches [11] have been proposed in the literature. In these approaches, tire data is not usually available or it varies substantially between different driving situations.…”

Section: Introductionmentioning

confidence: 99%

Model-based current limiting for traction control of an electric four-wheel drive race car

Bohl

Kariotoglou

Hempel

et al. 2014

2014 European Control Conference (ECC)

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This paper describes a novel traction control method and its application to an electric four-wheel driven race car. The proposed control method is based on a detailed model of tire dynamics and is designed for hardware with limited memory and computational power. We derive a linear parameter-varying model from first principles and validate it against a full nonlinear vehicle model. We then use the model to design a gain-scheduled LQRI controller, parametric on the measured vehicle velocity and lateral acceleration. We show that when incorporating additional information about the tire state, a gain scheduled LQRI controller is capable of minimizing excessive wheel spin by limiting the maximum torque available to the driver. This leads to a performance gain in acceleration while improving the handling characteristics of the race car.The proposed controller is thoroughly tested for its sensitivity to sensor noise and changes in system parameters in simulation and then implemented on a prototype race car competing in Formula Student. Experiments indicate satisfactory experimental performance from the initial control design without additional tuning of the controller parameters. This illustrates the simplicity of the design and ease of implementation.

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Vehicle dynamics control of four in-wheel motor drive electric vehicle using gain scheduling based on tyre cornering stiffness estimation

Cited by 137 publications

References 7 publications

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

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

An optimal torque distribution control strategy for four-independent wheel drive electric vehicles

Model-based current limiting for traction control of an electric four-wheel drive race car

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