Vehicle handling and stability control by the cooperative control of 4WS and DYC

Shen, Huan; Tan, Yunsheng

doi:10.1142/s0217984917400905

Cited by 9 publications

(6 citation statements)

References 7 publications

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“…For this study, the secondary effect, which is caused by the interaction between longitudinal and lateral forces on the tire, is used for the feedforward controller. Basic models, such as linear tire models or the one used in [4], are not sufficient to present the combined slip characteristic. The semi-empirical Magic Formula considers all of the relevant factors for this study.…”

Section: Tire Modelmentioning

confidence: 99%

“…Rear wheel steering and torque vectoring both produce a yaw moment around the vertical axis of the vehicle. Many control methods, such as sliding mode control (SMC) [3,4] and linear quadratic regulator (LQR), are investigated, but the approaches of different researches are diverse. Chen [5] used a combination of LQR, integral and feedforward control to eliminate the effect of steering input on side slip motion.…”

Section: Introductionmentioning

confidence: 99%

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Integrated Chassis Control and Control Allocation for All Wheel Drive Electric Cars with Rear Wheel Steering

Chien

Chen

2021

Electronics

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This study investigates a control strategy for torque vectoring (TV) and active rear wheel steering (RWS) using feedforward and feedback control schemes for different circumstances. A comprehensive vehicle and combined slip tire model are used to determine the secondary effect and to generate desired yaw acceleration and side slip angle rate. A model-based feedforward controller is designed to improve handling but not to track an ideal response. A feedback controller based on close loop observation is used to ensure its cornering stability. The fusion of two controllers is used to stabilize a vehicle’s lateral motion. To increase lateral performance, an optimization-based control allocation distributes the wheel torques according to the remaining tire force potential. The simulation results show that a vehicle with the proposed controller exhibits more responsive lateral dynamic behavior and greater maximum lateral acceleration. The cornering safety is also demonstrated using a standard stability test. The driving performance and stability are improved simultaneously by the proposed control strategy and the optimal control allocation scheme.

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Section: Tire Modelmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Integrated Chassis Control and Control Allocation for All Wheel Drive Electric Cars with Rear Wheel Steering

Chien

Chen

2021

Electronics

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“…Shen et al [14], based on sliding mode control theory, proposed a comprehensive control system combined with four-wheel steering and direct yaw moment control (DYC), which is effective. Cao et al [15] took the front wheel angle and the vehicle speed as the input, used the fuzzy control theory, and established the fuzzy controller which decided the rear wheel angle.…”

Section: Introductionmentioning

confidence: 99%

Study on the Multi-Mode Optimal Control of Four-Wheel Steering Vehicle

et al. 2022

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To improve the overall performance of four-wheel steering vehicles under different working conditions and solve the problem of the unbalanced comprehensive control effect of a single controller, a multi-mode optimal decision control system is proposed based on the linear 2-DOF dynamic model of the vehicle, which can make the vehicle have better performance under different working conditions. The system is composed of multiple controllers, in which the self-tuning dual yaw rate feedback controller can create timely feedback and make adjustments according to the driving state of the vehicle, which is optimal under the condition of a small rotation angle at medium and high speeds. The system can match the corresponding controller according to the optimal performance of different control strategies at different speeds and angles. The simulation results show that the multi-mode optimal selection system can make the vehicle perform optimally under different working conditions, and that comprehensive performance is more prominent than that of a single controller.

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“…In making full use of the advantages of electric vehicles with IWMs, one of the common methods is to control the motor torque through coordinated work of different control subsystems. In the literature [19], the appropriate four-wheel angle and required yaw moment is obtained through the integrated control strategy, so that the vehicle's yaw rate and sideslip angle can track its reference value well. Resources [20,21] took four-wheel independent driving electric vehicles as the research object and proposed a distribution strategy for motor torque and braking torque, which can improve the driving stability of the vehicle and reduce the demand for motor torques.…”

Section: Introductionmentioning

confidence: 99%

Stability Control for Electric Vehicles with Four In-Wheel-Motors Based on Sideslip Angle

Yang

Dong

et al. 2021

WEVJ

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Tire longitudinal forces of electrics vehicle with four in-wheel-motors can be adjusted independently. This provides advantages for its stability control. In this paper, an electric vehicle with four in-wheel-motors is taken as the research object. Considering key factors such as vehicle velocity and road adhesion coefficient, the criterion of vehicle stability is studied, based on phase plane of sideslip angle and sideslip-angle rate. To solve the problem that the sideslip angle of vehicles is difficult to measure, an algorithm for estimating the sideslip angle based on extended Kalman filter is designed. The control method for vehicle yaw moment based on sliding-mode control and the distribution method for wheel driving/braking torque are proposed. The distribution method takes the minimum sum of the square for wheel load rate as the optimization objective. Based on Matlab/Simulink and Carsim, a cosimulation model for the stability control of electric vehicles with four in-wheel-motors is built. The accuracy of the proposed stability criterion, the algorithm for estimating the sideslip angle and the wheel torque control method are verified. The relevant research can provide some reference for the development of the stability control for electric vehicles with four in-wheel-motors.

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Vehicle handling and stability control by the cooperative control of 4WS and DYC

Cited by 9 publications

References 7 publications

Integrated Chassis Control and Control Allocation for All Wheel Drive Electric Cars with Rear Wheel Steering

Integrated Chassis Control and Control Allocation for All Wheel Drive Electric Cars with Rear Wheel Steering

Study on the Multi-Mode Optimal Control of Four-Wheel Steering Vehicle

Stability Control for Electric Vehicles with Four In-Wheel-Motors Based on Sideslip Angle

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