Vehicle Motion Control Method Using Yaw-moment Observer and Lateral Force Observer for Electric Vehicle

Yamauchi, Yuya; Fujimoto, Hiroshi

doi:10.1541/ieejias.130.939

Cited by 13 publications

(6 citation statements)

References 7 publications

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“…We used a vehicle control method [16] in which a lateral force observer (LFO) was designed for the vehicle sideslip angle control and a yaw moment observer (YMO) was used for the yaw rate control. We used a vehicle control method [16] in which a lateral force observer (LFO) was designed for the vehicle sideslip angle control and a yaw moment observer (YMO) was used for the yaw rate control.…”

Section: Control System Configurationmentioning

confidence: 99%

Range Extension Autonomous Driving for Electric Vehicle Based on Optimal Vehicle Velocity Profile in Consideration of Cornering

Ikezawa

Fujimoto

Kawano

et al. 2018

Electrical Engineering Japan

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Electric vehicles (EVs) have been intensively studied in the last decade due to their environment-friendly characteristics. However, the miles-per-charge of EVs is less than that of internal combustion engine vehicles. To improve the miles-per-charge, the authors' group proposed a Range Extension Autonomous Driving (READ) system that minimizes consumption energy by optimizing the velocity profile. However, conventional systems can be applied to driving on only straight roads. Therefore, this study extends READ system to be applied to driving not only on straight roads but also on curved roads by modeling the vehicle rotation motion and the cornering resistance. The effectiveness of the proposed method is verified by simulations and experiments.

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Section: Control System Configurationmentioning

confidence: 99%

Range Extension Autonomous Driving for Electric Vehicle Based on Optimal Vehicle Velocity Profile in Consideration of Cornering

Ikezawa

Fujimoto

Kawano

et al. 2018

Electrical Engineering Japan

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“…Therefore, there is a "trade-off" between sideslip angle control and yaw rate control. In [11,16], and [17], active front steering is integrated with direct yaw moment control by different schemes. In [11], decoupling control method is utilized such that sideslip angle is controlled by front steering angle and yaw rate is controlled by yaw moment.…”

Section: Upper Control Layer Designmentioning

confidence: 99%

“…It means the decoupling terms are designed in the upper control layer. As discussed in [16] and [17], the decoupling control is not robust enough under the variation of cornering stiffness. In case of big cornering stiffness error, i.e., 30% of the true value, the state responses will have a terrible oscillation about the desired values.…”

Section: Upper Control Layer Designmentioning

confidence: 99%

“…In case of big cornering stiffness error, i.e., 30% of the true value, the state responses will have a terrible oscillation about the desired values. Based on disturbance observer theory, in [16] and [17], a new decoupling control scheme is proposed with high robustness under model error. This scheme is a combination of yaw moment observer and lateral force observer that can compensate the lumped disturbances and nominalize the system as follows:…”

Section: Upper Control Layer Designmentioning

confidence: 99%

“…However, the problem of sideslip angle estimation was not solved in [16][17]. In this paper, we aim to propose a control scheme that can achieve two goals simultaneously: robust estimation of sideslip angle and robust lateral stability control.…”

Section: Upper Control Layer Designmentioning

confidence: 99%

See 2 more Smart Citations

Lateral Stability Control of Electric Vehicle Based On Disturbance Accommodating Kalman Filter using the Integration of Single Antenna GPS Receiver and Yaw Rate Sensor

Nguyen¹,

Fujimoto²,

Hori³

2013

Journal of Electrical Engineering and Technology

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-This paper presents a novel lateral stability control system for electric vehicle based on sideslip angle estimation through Kalman filter using the integration of a single antenna GPS receiver and yaw rate sensor. Using multi-rate measurements including yaw rate and course angle, time-varying parameters disappear from the measurement equation of the proposed Kalman filter. Accurate sideslip angle estimation is achieved by treating the combination of model uncertainties and external disturbances as extended states. Active front steering and direct yaw moment are integrated to manipulate sideslip angle and yaw rate of the vehicle. Instead of decoupling control design method, a new control scheme, "two-input two-output controller", is proposed. The extended states are utilized for disturbance rejection that improves the robustness of lateral stability control system. The effectiveness of the proposed methods is verified by computer simulations and experiments.

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Electric Vehicle Range Extension Control System Based on Front‐ and Rear‐Wheel Sideslip Angle and Left‐ and Right‐Motor Torque Distribution

Sumiya

Fujimoto

2014

Electrical Engineering Japan

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SUMMARYIn this paper, a range extension control system based on the least-squares method is proposed for electric vehicles with in-wheel motors and front active steering. We propose a method that distributes the front and rear-wheel sideslip angles and the difference in the driving force between the left and right motors resulting from the lateral force and yaw moment. The proposed method allows a reduction in the driving resistance generated due to the front steering angle. In practice, the mileage per charge is increased to about 200 m/kWh. Simulations and experiments confirm the effectiveness of the proposed method.

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Vehicle Motion Control Method Using Yaw-moment Observer and Lateral Force Observer for Electric Vehicle

Cited by 13 publications

References 7 publications

Range Extension Autonomous Driving for Electric Vehicle Based on Optimal Vehicle Velocity Profile in Consideration of Cornering

Range Extension Autonomous Driving for Electric Vehicle Based on Optimal Vehicle Velocity Profile in Consideration of Cornering

Lateral Stability Control of Electric Vehicle Based On Disturbance Accommodating Kalman Filter using the Integration of Single Antenna GPS Receiver and Yaw Rate Sensor

Electric Vehicle Range Extension Control System Based on Front‐ and Rear‐Wheel Sideslip Angle and Left‐ and Right‐Motor Torque Distribution

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