Adaptive sliding mode-based direct yaw moment control for electric vehicles

2015 ◽  
Author(s):  
Chunyun Fu ◽  
Minghui Hu
Keyword(s):  
Electric Vehicles ◽  
Sliding Mode ◽  
Adaptive Sliding Mode ◽  
Direct Yaw Moment Control ◽  
Yaw Moment Control ◽  
Moment Control ◽  
Yaw Moment

scholarly journals Direct Yaw-Moment Control of All-Wheel-Independent-Drive Electric Vehicles with Network-Induced Delays through Parameter-Dependent Fuzzy SMC Approach

2017 ◽  
Vol 2017 ◽  
pp. 1-15 ◽  
Author(s):  
Wanke Cao ◽  
Zhiyin Liu ◽  
Yuhua Chang ◽  
Antoni Szumanowski
Keyword(s):  
Sliding Mode Control ◽  
Electric Vehicles ◽  
Sliding Mode ◽  
Fuzzy Sliding Mode Control ◽  
Direct Yaw Moment Control ◽  
Yaw Moment Control ◽  
Moment Control ◽  
Fuzzy Sliding Mode ◽  
Parameter Dependent ◽  
Yaw Moment

This paper investigates the robust direct yaw-moment control (DYC) through parameter-dependent fuzzy sliding mode control (SMC) approach for all-wheel-independent-drive electric vehicles (AWID-EVs) subject to network-induced delays. AWID-EVs have obvious advantages in terms of DYC over the traditional centralized-drive vehicles. However it is one of the most principal issues for AWID-EVs to ensure the robustness of DYC. Furthermore, the network-induced delays would also reduce control performance of DYC and even deteriorate the EV system. To ensure robustness of DYC and deal with network-induced delays, a parameter-dependent fuzzy sliding mode control (FSMC) method based on the real-time information of vehicle states and delays is proposed in this paper. The results of cosimulations with Simulink® and CarSim® demonstrate the effectiveness of the proposed controller. Moreover, the results of comparison with a conventional FSMC controller illustrate the strength of explicitly dealing with network-induced delays.

scholarly journals A novel adaptive sliding mode control approach for electric vehicle direct yaw-moment control

2018 ◽  
Vol 10 (10) ◽  
pp. 168781401880317 ◽  
Author(s):  
Chunyun Fu ◽  
Reza Hoseinnezhad ◽  
Kuining Li ◽  
Minghui Hu
Keyword(s):  
Sliding Mode ◽  
Adaptive Sliding Mode Control ◽  
Slip Angle ◽  
Control Approach ◽  
Adaptive Sliding Mode ◽  
Direct Yaw Moment Control ◽  
Control Gain ◽  
Yaw Moment Control ◽  
Moment Control ◽  
Yaw Moment

Direct yaw-moment control systems have been proven effective in enhancing vehicle stability and handling. The existing direct yaw-moment control designs commonly involve computation of tire side-slip angles, which is susceptible to measurement and estimation errors. The fixed control gain of the conventional sliding mode direct yaw-moment control design cannot adapt to variations and uncertainties in vehicle parameters. As a result, its robustness against parametric variations and uncertainties is limited. To improve the control performance, a novel adaptive sliding mode direct yaw-moment control approach is proposed in this article for electric vehicles with independent motors. The proposed method utilizes a varying control gain to adapt to the variations of front and rear tire side-slip angles. Comparative simulation results show that the proposed scheme outperforms the conventional method with inaccurate tire side-slip angle feedback. With the proposed direct yaw-moment control system on-board, the adverse effects of inaccuracies on tire side-slip angles are suppressed and the vehicle’s robustness against parametric variations and uncertainties is enhanced.

Integrated vehicle chassis control for active front steering and direct yaw moment control based on hierarchical structure

2018 ◽  
Vol 41 (9) ◽  
pp. 2428-2440 ◽  
Author(s):  
Jiaxu Zhang ◽  
Jing Li
Keyword(s):  
Sliding Mode ◽  
Null Space ◽  
Level Control ◽  
Direct Yaw Moment Control ◽  
Active Front Steering ◽  
Yaw Moment Control ◽  
Chassis Control ◽  
Moment Control ◽  
Vehicle Chassis ◽  
Yaw Moment

This paper presents an integrated vehicle chassis control (IVCC) strategy to improve vehicle handling and stability by coordinating active front steering (AFS) and direct yaw moment control (DYC) in a hierarchical way. In high-level control, the corrective yaw moment is calculated by the fast terminal sliding mode control (FTSMC) method, which may improve the transient response of the system, and a non-linear disturbance observer (NDO) is used to estimate and compensate for the model uncertainty and external disturbance to suppress the chattering of FTSMC. In low-level control, the null-space-based control reallocation method and inverse tyre model are utilized to transform the corrective yaw moment to the desired longitudinal slips and the steer angle increment of front wheels by considering the constraints of actuators and friction ellipse of each wheel. Finally, the performance of the proposed control strategy is verified through simulations of various manoeuvres based on vehicle dynamic software CarSim.

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