Torque vectoring control system for distributed drive electric bus under complicated driving conditions

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Liang Su ◽  
Zhenpo Wang ◽  
Chao Chen
Keyword(s):  
Control System ◽  
Feedback Control ◽  
Control Algorithm ◽  
Sliding Mode ◽  
Steering Wheel ◽  
Content Type ◽  
Yaw Rate ◽  
Torque Vectoring ◽  
Driving Conditions ◽  
Yaw Moment

Purpose The purpose of this study is to propose a torque vectoring control system for improving the handling stability of distributed drive electric buses under complicated driving conditions. Energy crisis and environment pollution are two key pressing issues faced by mankind. Pure electric buses are recognized as the effective method to solve the problems. Distributed drive electric buses (DDEBs) as an emerging mode of pure electric buses are attracting intense research interests around the world. Compared with the central driven electric buses, DDEB is able to control the driving and braking torque of each wheel individually and accurately to significantly enhance the handling stability. Therefore, the torque vectoring control (TVC) system is proposed to allocate the driving torque among four wheels reasonably to improve the handling stability of DDEBs. Design/methodology/approach The proposed TVC system is designed based on hierarchical control. The upper layer is direct yaw moment controller based on feedforward and feedback control. The feedforward control algorithm is designed to calculate the desired steady-state yaw moment based on the steering wheel angle and the longitudinal velocity. The feedback control is anti-windup sliding mode control algorithm, which takes the errors between actual and reference yaw rate as the control variables. The lower layer is torque allocation controller, including economical torque allocation control algorithm and optimal torque allocation control algorithm. Findings The steady static circular test has been carried out to demonstrate the effectiveness and control effort of the proposed TVC system. Compared with the field experiment results of tested bus with TVC system and without TVC system, the slip angle of tested bus with TVC system is much less than without TVC. And the actual yaw rate of tested bus with TVC system is able to track the reference yaw rate completely. The experiment results demonstrate that the TVC system has a remarkable performance in the real practice and improve the handling stability effectively. Originality/value In view of the large load transfer, the strong coupling characteristics of tire , the suspension and the steering system during coach corning, the vehicle reference steering characteristics is defined considering vehicle nonlinear characteristics and the feedforward term of torque vectoring control at different steering angles and speeds is designed. Meanwhile, in order to improve the robustness of controller, an anti-integral saturation sliding mode variable structure control algorithm is proposed as the feedback term of torque vectoring control.

Vehicle Direct Yaw Moment Control with Longitudinal Forces Distribution

2014 ◽  
Vol 709 ◽  
pp. 331-334
Author(s):  
Man Hong Huang ◽  
Huan Shen ◽  
Yun Sheng Tan
Keyword(s):  
Control System ◽  
Reference Model ◽  
Sliding Mode ◽  
Stability Control ◽  
Yaw Rate ◽  
Vehicle Stability Control ◽  
Braking Torque ◽  
Stability Control System ◽  
Yaw Moment Control ◽  
Yaw Moment

In this paper, a vehicle stability control system is proposed to improve vehicle comfort, handling and stability. The control system includes reference model, DYC controller and Distributer. Reference model is used to obtain the desired yaw rate. DYC controller determines the desired yaw moment by means of sliding-mode technique. Distributer, based on maneuverability and comfort, distributes driving torque or braking torque according to the desired yaw rate. Simulation result shows that the proposed control algorithm can improve vehicle handling and stability effectively.

scholarly journals Lane Departure Avoidance Control for Electric Vehicle Using Torque Allocation

2018 ◽  
Vol 2018 ◽  
pp. 1-10 ◽  
Author(s):  
Yiwan Wu ◽  
Zhengqiang Chen ◽  
Rong Liu ◽  
Fan Li
Keyword(s):  
Electric Vehicle ◽  
Control Algorithm ◽  
Sliding Mode ◽  
Lower Layer ◽  
Yaw Rate ◽  
Lane Departure ◽  
Dangerous Driving ◽  
Braking Torque ◽  
Avoidance Control ◽  
Yaw Moment

This paper focuses on the lane departure avoidance system for a four in-wheel motors’ drive electric vehicle, aiming at preventing lane departure under dangerous driving conditions. The control architecture for the lane departure avoidance system is hierarchical. In the upper controller, the desired yaw rate was calculated with the consideration of vehicle-lane deviation, vehicle dynamic, and the limitation of road adhesion. In the middle controller, a sliding mode controller (SMC) was designed to control the additional yaw moment. In the lower layer, the yaw moment was produced by the optimal distribution of driving/braking torque between four wheels. Lane departure avoidance was carried out by tracking desired yaw response. Simulations were performed to study the effectiveness of the control algorithm in Carsim®/Simulink® cosimulation. Simulation results show that the proposed methods can effectively confine the vehicle in lane and prevent lane departure accidents.

Torque Vectoring Control for Handling Improvement of 4WD EV

2013 ◽  
Vol 765-767 ◽  
pp. 1893-1898
Author(s):  
Xia Xu ◽  
Lu Xiong ◽  
Yuan Feng
Keyword(s):  
Sliding Mode ◽  
Control Level ◽  
Control Law ◽  
Yaw Rate ◽  
Bicycle Model ◽  
Torque Vectoring ◽  
Parameter Variations ◽  
Upper Level ◽  
Traction Distribution ◽  
Yaw Moment

Exploiting the structural merit that electric motors can be controlled precisely in speed und torque, this paper investigates the use of Torque Vectoring Control (TVC) for improving handling of electric vehicles. The strategy consists of two control levels. The upper level controller layer achieves reference yaw rate tracking, by using the 2-DOF planar bicycle model with a linear tire model to calculate the desired yaw rate. Then with sliding mode control law the desired yaw moment is determined. The lower control level determines control inputs for four driving motors by means of optimum traction distribution. Simulations are carried out by using the co-simulation of vehicle dynamics software CarSim and Simulink to verify the effectiveness of this control system and the effects of parameter variations (friction coefficient and throttle).

Integrated AFS and DYC Sliding Mode Controller Design for Hybrid Electric Vehicle

2010 ◽  
Author(s):  
Behrooz Mashadi ◽  
Majid Majidi
Keyword(s):  
Hybrid Electric Vehicle ◽  
Sliding Mode ◽  
Lower Layer ◽  
Steering Wheel ◽  
Slip Angle ◽  
Vehicle Model ◽  
Wheel Slip ◽  
Sideslip Angle ◽  
Yaw Rate ◽  
Yaw Moment

An integrated controller of active front steering and direct yaw moment is developed in this paper. In upper layer, the corrective steering angle and yaw moment are obtained using sliding mode control. A combined sliding surface is defined in order that the yaw rate and side slip angle of vehicle track the desired values. The corrective yaw moments are applied by electrical motors embedded in rear wheels. The desired value for yaw rate and sideslip angle are obtained from a 4-DOF nonlinear vehicle model. In the lower layer, the active steering, wheel slip and electrical motor torque controllers are designed. Wheel slip and motors torque controllers generate the longitudinal forces in the rear wheels to produce the desired yaw moment. A nonlinear nine degrees of freedom vehicle model is used for simulation purposes. The simulation results illustrate considerable improvements in vehicle handling.

Optimal Control for Three-Axle Vehicle's All-Wheel Steering

2013 ◽  
Vol 345 ◽  
pp. 104-107
Author(s):  
Hui Tan ◽  
Sheng Min Cui ◽  
Kun Zhang ◽  
Ren Jie Sun ◽  
Ming Jin Lin
Keyword(s):  
Control System ◽  
Feedback Control ◽  
Dynamic Stability ◽  
Control Algorithm ◽  
Optimal Feedback Control ◽  
Sideslip Angle ◽  
Yaw Rate ◽  
All Wheel Steering ◽  
Three Degree Of Freedom ◽  
The Ideal

In order to develop fieldwork car’s dynamic stability, a new control system for three-axle vehicle’s all-wheel steering is put forward. A nonlinear three degree of freedom (3-DOF) all-wheel steering model is built. The tire’s magic formula and the tire vertical load’s solving method based on displacement are applied to the model and the ideal yaw rate is given. Using feedforward and feedback control algorithm, a zero sideslip angle proportional feedforward and optimal feedback control system is designed. The system is simulated on MATLAB/Simulink platform and results show the vehicle’s dynamic stability is obviously developed.

Robust active disturbance attenuation control of an uncertain quadrotor

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Nigar Ahmed ◽  
Ajeet kumar Bhatia ◽  
Syed Awais Ali Shah
Keyword(s):  
Control Algorithm ◽  
Sliding Mode ◽  
The State ◽  
Disturbance Attenuation ◽  
State Variables ◽  
Pass Filter ◽  
Low Pass Filter ◽  
Content Type ◽  
Highly Nonlinear ◽  
The Stability

PurposeThe aim of this research is to design a robust active disturbance attenuation control (RADAC) technique combined with an extended high gain observer (EHGO) and low pass filter (LPF).Design/methodology/approachFor designing a RADAC technique, the sliding mode control (SMC) method is used. Since the standard method of SMC exhibits a chattering phenomenon in the controller, a multilayer sliding mode surface is designed for avoiding the chattering. In addition, to attenuate the unwanted uncertainties and disturbances (UUDs), the techniques of EHGO and LPF are deployed. Besides acting as a patch for disturbance attenuation, the EHGO design estimates the state variables. To investigate the stability and effectiveness of the designed control algorithm, the stability analysis followed by the simulation study is presented.FindingsThe major findings include the design of a chattering-free RADAC controller based on the multilayer sliding mode surface. Furthermore, a criterion of integrating the LPF scheme within the EHGO scheme is also developed to attenuate matched and mismatched UUDs.Practical implicationsIn practice, the quadrotor flight is opposed by different kinds of the UUDs. And, the model of the quadrotor is a highly nonlinear underactuated model. Thus, the dynamics of the quadrotor model become more complex and uncertain due to the additional UUDs. Hence, it is necessary to design a robust disturbance attenuation technique with the ability to estimate the state variables and attenuate the UUDs and also achieve the desired control objectives.Originality/valueDesigning control methods to attenuate the disturbances while assuming that the state variables are known is a common practice. However, investigating the uncertain plants with unknown states along with the disturbances is rarely taken in consideration for the control design. Hence, this paper presents a control algorithm to address the issues of the UUDs as well as investigate a criterion to reduce the chattering incurred in the controller due to the standard SMC algorithm.

Research on Digital Control of Meter-In and Meter-Out Independent Regulating for High Inertia Load

1999 ◽  
Author(s):  
Qingfeng Wang ◽  
Linyi Gu ◽  
Yongxiang Lu
Keyword(s):  
Control System ◽  
Feedback Control ◽  
Dynamic Process ◽  
Control Algorithm ◽  
Damping Ratio ◽  
State Feedback Control ◽  
Hydraulic Systems ◽  
Outlet Pressure ◽  
Acceleration And Deceleration ◽  
Valve Control

Abstract The smoothness of acceleration and deceleration process is a serious problem in valve control system with high inertia load, especially in the hydraulic systems in construction machines. In this paper, a meter-in and meter-out independent regulating method, in which the two sides of actuator are controlled by a meter-in valve and a meter-out valve respectively, is put forward, in one hand, the meter-out valve could control the actuator’s outlet pressure to avoid the ultra-high outlet pressure when actuator decelerates or brakes suddenly. On the other hand, the dynamic damping ratio of valve control system could be raised through calculated flow feedback control algorithm. Secondly, a grading control algorithm in dynamic process of high inertia load is adopted. When the actuator’s velocity is far from its command value, the actuator’s inlet and outlet pressure are controlled. After the velocity error decrease to a threshold, a state feedback control algorithm based on parameters on line estimating is employed to realize both its velocity accuracy and the smoothness of dynamic process. Experiments show that the actuator’s velocity could increase or decrease to its command value accurately, smoothly and rapidly after the above method and algorithm are applied.

Research and Experiment on Path-Tracking Control of Autonomous Tractor Based on Lateral Deviation and Yaw Rate Feedback

2021 ◽  
Vol 37 (5) ◽  
pp. 891-899
Author(s):  
Bingli Zhang ◽  
Jin Cheng ◽  
Pingping Zheng ◽  
Aojia Li ◽  
Xiaoyu Cheng
Keyword(s):  
Tracking Control ◽  
Control Algorithm ◽  
Sliding Mode ◽  
Path Tracking ◽  
Steering Angle ◽  
Lateral Deviation ◽  
Yaw Rate ◽  
Automatic Navigation ◽  
Rate Feedback ◽  
The Ideal

HighlightsAutomatic navigation technology in autonomous tractors is one of the key technologies in precision agriculture.A path-tracking control algorithm based on lateral deviation and yaw rate feedback is proposed.The modified steering angle was obtained by comparing the ideal yaw rate with the actual yaw rate.The results demonstrate the efficiency and superior accuracy of the proposed algorithm for tractor path-tracking control.Abstract. The performance of path-tracking control systems for autonomous tractors affects the quality and efficiency of farmland operations. The objective of this study was to develop a path-tracking control algorithm based on lateral deviation and yaw rate feedback. The autonomous tractor path lateral dynamics model was developed based on preview theory and a two-degree-of-freedom tractor model. According to the established dynamic model, a path-tracking control algorithm using yaw angular velocity correction was designed, and the ideal steering angle was obtained by lateral deviation and sliding mode control. The modified steering angle was obtained by a proportional-integral-derivative feedback controller after comparing the ideal yaw rate with the actual yaw rate, which was then combined with the ideal steering angle to obtain the desired steering angle. The simulation and experimental results demonstrate the efficiency and superior accuracy of the proposed tractor path-tracking control algorithm, enabling its application in automatic navigation control systems for autonomous tractors. Keywords: Autonomous tractor, Path-tracking control, Sliding mode control, Yaw rate feedback.

A direct yaw moment controller for a four in-wheel motor drive electric vehicle using adaptive sliding mode control

2019 ◽  
Vol 233 (3) ◽  
pp. 549-567 ◽  
Author(s):  
Aria Noori Asiabar ◽  
Reza Kazemi
Keyword(s):  
Sliding Mode Control ◽  
Control Algorithm ◽  
Sliding Mode ◽  
Adaptive Sliding Mode Control ◽  
Regenerative Braking ◽  
Lane Change ◽  
Unknown Parameters ◽  
Vehicle Handling ◽  
Adaptive Sliding Mode ◽  
Yaw Moment

In this paper, a direct yaw moment control algorithm is designed such that the corrective yaw moment is generated through direct control of driving and braking torques of four in-wheel brushless direct current motors located at the empty space of vehicle wheels. The proposed control system consists of a higher-level controller and a lower-level controller. In the upper level of proposed controller, a PID controller is designed to keep longitudinal velocity constant in manoeuvres. In addition, due to probable modelling error and parametric uncertainties as well as adaptation of unknown parameters in control law, an adaptive sliding mode control through adaptation of unknown parameters is presented to yield the corrective yaw moment such that the yaw rate tracks the desired value and the vehicle sideslip angle maintains limited so as to improve vehicle handling stability. The lower-level controller allocates the achieved control efforts (i.e. total longitudinal force and corrective yaw moment) to driving or regenerative braking torques of four in-wheel motors so as to generate the desired tyre longitudinal forces. The additional yaw moment applied by upper-lever controller may saturate the tyre forces. To this end, a novel longitudinal slip ratio controller which is designed based on fuzzy logic is included in the lower-level controller. A tyre dynamic weight transfer-based torque distribution algorithm is employed to distribute the motor driving torque or regenerative braking torque of each in-wheel motor for vehicle stability enhancement. A seven degree-of-freedom non-linear vehicle model with Magic Formula tyre model as well as the proposed control algorithm are simulated in Matlab/Simulink software. Three steering inputs including lane change, double lane change and step-steer manoeuvres in different roads are investigated in simulation environment. The simulation results show that the proposed control algorithm is capable of improving vehicle handling stability and maintaining vehicle yaw stability.

Home intelligent lighting control system based on wireless sensor

2020 ◽  
Vol 18 (5) ◽  
pp. 1231-1240
Author(s):  
Lianyu Wang
Keyword(s):  
Control System ◽  
Wireless Sensor Network ◽  
Sensor Network ◽  
Control Algorithm ◽  
Wireless Sensor ◽  
Light Control ◽  
Content Type ◽  
Lighting Control ◽  
System Requirements ◽  
Further Development

Purpose Intelligent lighting control system can control lights to go off when people leave, which has been widely concerned by researchers. Design/methodology/approach In this study, an intelligent lighting control system based on wireless sensor network was designed. First, the hardware and software designs of the system were described briefly. Then, the lighting control algorithm was analyzed emphatically. Considering the illumination and uniformity of light, an intelligent lighting control algorithm based on gradient descent was designed. Findings In the system test, it was found that the system had a good through-wall communication function, and the communication distance could fully meet the system requirements and run normally. In the test of the lighting control algorithm, it was found that the user’s satisfaction on uniformity in different scenarios was close to 1, and the satisfaction on illumination could also meet the user’s needs, which verified the reliability of the lighting control algorithm. Originality/value This study provides some theoretical supports for the better application of wireless sensor network in intelligent light control system, which is conducive to the further development of light control system.

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