Wheel Slip Control for the Electric Vehicle With In-Wheel Motors: Variable Structure and Sliding Mode Methods

Savitski, Dzmitry; Ivanov, Valentin; Augsburg, Klaus; Emmei, Tomoki; Fuse, Hiroyuki; Fujimoto, Hiroshi; Fridman, Leonid

doi:10.1109/tie.2019.2942537

Cited by 59 publications

(22 citation statements)

References 36 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…half-shaft dynamics for on-board electric motor) have a lesser effect on the performance of wheel torque modulation. From the perspective of wheel slip control, due to a faster response of the electric motor compared to the frictional brake system, high-frequency brake demand can be more effectively realized by the electric motor and so, a continuous wheel slip control can be achieved [15], [16].…”

Section: Survey Of Control Strategies For Wheel Slip Controlmentioning

confidence: 99%

Survey on Wheel Slip Control Design Strategies, Evaluation and Application to Antilock Braking Systems

et al. 2020

Self Cite

View full text Add to dashboard Cite

Since their introduction, anti-lock braking systems (ABS) have mostly relied on heuristic, rule-based control strategies. ABS performance, however, can be significantly improved thanks to many recent technological developments. This work presents an extensive review of the state of the art to verify such a statement and quantify the benefits of a new generation of wheel slip control (WSC) systems. Motivated by the state of the art, as a case study, a nonlinear model predictive control (NMPC) design based on a new load-sensing technology was developed. The proposed ABS was tested on Toyota's high-end vehicle simulator and was benchmarked against currently applied industrial controller. Additionally, a comprehensive set of manoeuvres were deployed to assess the performance and robustness of the proposed NMPC design. The analysis showed substantial reduction of the braking distance and better steerability with the proposed approach. Furthermore, the proposed design showed comparable robustness against external factors to the industrial benchmark. INDEX TERMS Road vehicles, vehicle safety, antilock braking system, wheel slip control, model predictive control.

show abstract

Section: Survey Of Control Strategies For Wheel Slip Controlmentioning

confidence: 99%

Survey on Wheel Slip Control Design Strategies, Evaluation and Application to Antilock Braking Systems

et al. 2020

Self Cite

View full text Add to dashboard Cite

show abstract

“…In the following section the results are presented for the wheel slip controller, which was described and demonstrated in previous studies of the authors of this paper [8,9,10,11].…”

Section: Brake Blending and Wheel Slip Controlmentioning

confidence: 99%

Fail-Safe Study on Brake Blending Control

Lehne

Augsburg

Ivanov

et al. 2021

SAE Int. J. Adv. & Curr. Prac. in Mobility

Self Cite

View full text Add to dashboard Cite

Battery electric vehicles (BEV) share the ability of regenerative braking since they are equipped with two independent types of deceleration devices, namely the electric motor working as a generator and the friction brakes. Correct interaction of these systems in terms of driving safety and energy efficiency is a function of the Brake Blending Control. Individual electric motors for each wheel and a decoupled brake system provides the Brake Blending with a high design flexibility that allows significant advantages regarding energy consumption, brake performance, and driving comfort. This paper is focusing on the fail behaviour and analyses the robustness and redundancy abilities of such systems against various error scenarios. For this purposes, a distributed x-inthe-loop environment, consisting of dedicated simulation and hardware testing components, is introduced. The investigation is carried out based on a high-fidelity real-time simulation model of an electric sport utility vehicle with four in-wheel motors (IWM) and decoupled electro-hydraulic brake system. This model can be used for a detailed analysis of vehicle dynamics in case of brake system fails. The electro-hydraulic decoupled brake system is implemented through a Hardwarein-the-loop test rig, which allows a realistic fault injection. The vehicle stability and controllability is investigated under the circumstances of various brake system failures in the regenerative and friction brake system, respectively. These studies are presented according to standardized test scenarios like Straight line braking (DIN 70028) and Brake-in-turn (ISO 7975). With obtained x-in-the-loop simulation results, the impact of a failure on vehicle dynamics is discussed in the final part of the paper.

show abstract

“…The design of the switching moment includes an uncertain upper bound and an approaching term, which cover the model uncertainty and external disturbance, to ensure that the system state can converge to the sliding mode surface. To reduce chattering near the sliding mode surface, the high-order sliding mode variable structure method is generally adopted [26], and the symbolic function is replaced by the saturation function or continuous functions [27]. However, there is a lack of a complete theoretical proof for the stability of the sliding mode control system with a variable structure.…”

Section: Introductionmentioning

confidence: 99%

Robust Variable Structure Anti-Slip Control Method of a Distributed Drive Electric Vehicle

Leng

Liu

et al. 2020

IEEE Access

View full text Add to dashboard Cite

Slip rate control is important in improving vehicle stability and driving efficiency. In this paper, a robust slip rate control system is designed for distributed drive electric vehicles that consists of two slip rate estimators for multi-driving conditions, a vehicle speed estimator, and an anti-windup robust variable structure slip rate tracking controller. Because there is no driven wheel in a four-in-wheel-motor distributed drive electric vehicle, the estimators for small and large slip rates are designed based on dynamic and kinematic methods, respectively, which can switch according to the slip conditions. The convergence of the estimation error is discussed with the Lyapunov stability law and is less than 2% under the condition of acceleration on a low-friction road. The slip rate tracking controller is designed based on the sliding mode control law and the proportional-integral (PI) control method to handle model nonlinearity, modelling and estimation errors, and disturbances and to control the input chattering and saturation. The asymptotic stability of the tracking error is proven by Lyapunov theory. A joint control variable composed of the wheel angular acceleration and slip rate is designed to improve the robustness of the controller against the slip rate estimation error. Simulations and experiments under various conditions are performed to verify the proposed anti-slip control method. The results show that compared with a distributed drive vehicle without a slip rate controller, the controlled vehicle can prevent serious wheel skid on low-adhesion roads and improve the driving performance.

show abstract

Wheel Slip Control for the Electric Vehicle With In-Wheel Motors: Variable Structure and Sliding Mode Methods

Cited by 59 publications

References 36 publications

Survey on Wheel Slip Control Design Strategies, Evaluation and Application to Antilock Braking Systems

Survey on Wheel Slip Control Design Strategies, Evaluation and Application to Antilock Braking Systems

Fail-Safe Study on Brake Blending Control

Robust Variable Structure Anti-Slip Control Method of a Distributed Drive Electric Vehicle

Contact Info

Product

Resources

About