Improvement in the vehicle stability of distributed-drive electric vehicles based on integrated model-matching control

2017 ◽  
Vol 232 (3) ◽  
pp. 341-356 ◽  
Author(s):  
Xudong Zhang ◽  
Dietmar Göhlich
Keyword(s):  
Electric Vehicles ◽  
Sliding Mode ◽  
Integrated Model ◽  
Recursive Least Squares ◽  
Adaptive Sliding Mode Control ◽  
Vehicle Stability ◽  
Sliding Mode Controller ◽  
Model Matching ◽  
Vehicle Motion ◽  
Yaw Moment

This paper presents a vehicle dynamic stability controller for distributed-drive electric vehicles. A hierarchical control structure is adopted for the proposed controller. An upper controller is designed on the basis of integrated model-matching control. It consists of a feedforward component plus a feedback component to calculate the desired external yaw moment to achieve the desired vehicle motion. The feedforward control aims at compensating the effect caused by the variation in the linear cornering stiffnesses of the tyres during the life cycle of the tyres. It provides a rapid response under common driving conditions. The linear cornering stiffnesses of the tyres are estimated in real time by the adaptive forgetting-factor recursive least-squares method. Since many vehicle parameters have strongly non-linear and time-varying characteristics, adaptive sliding mode control is used as the feedback component to make the controller robust against systematic uncertainties. To combine the outputs of feedforward and feedback together and to avoid probable conflict, a weight gain coefficient is obtained. Additionally, a conventional sliding-mode controller is introduced as a comparative upper control strategy. The lower controller is utilized to allocate the required yaw moment and traction to the four independent motors, taking into account the tyre grip margins. Simulations for a low- g manoeuvre and a high- g manoeuvre are carried out to evaluate the proposed control algorithm. The results show that the proposed vehicle stability controller can significantly stabilize the vehicle motion and greatly reduce the driver’s workload in comparison with with the conventional sliding-mode controller.

scholarly journals An Energy Efficient Control Strategy for Electric Vehicle Driven by In-Wheel-Motors Based on Discrete Adaptive Sliding Mode Control

2021 ◽  
Author(s):  
Han Zhang ◽  
Changzhi Zhou ◽  
Chunyan Wang ◽  
Wanzhong Zhao
Keyword(s):  
Motion Control ◽  
Control Strategy ◽  
Energy Efficient ◽  
Sliding Mode ◽  
Adaptive Sliding Mode Control ◽  
Efficient Control ◽  
Vehicle Motion ◽  
Tire Forces ◽  
Driving Torque ◽  
Yaw Moment

Abstract This paper presents an energy efficient control strategy for electric vehicle (EV) driven by in-wheel-motors (IWMs) based on discrete adaptive sliding mode control (DASMC). The nonlinear vehicle model, tire model and the IWM model are established at first to represent the operation mechanism of the whole system. Based on the modeling, two virtual control variables are used to represent the longitudinal and yaw control efforts to coordinate the vehicle motion control. Then DASMC method is applied to calculate the required total driving torque and yaw moment, which can improve the tracking performance as well as the system robustness. According to the vehicle nonlinear model, the additional yaw moment can be expressed as a function of longitudinal and lateral tire forces. For further control scheme development, a tire force estimator using unscented Kalman filter is designed to estimate real-time tire forces. On these bases, energy efficient torque allocation method is developed to distribute the total driving torque and differential torque to each IWM, considering the motor energy consumption, the tire slip energy consumption and the brake energy recovery. Simulation results of the proposed control strategy using co-platform of Matlab/Simulink and CarSim® demonstrate that it can accomplish the vehicle motion control in a coordinated and economic way.

scholarly journals A New Torque Distribution Control for Four-Wheel Independent-Drive Electric Vehicles

Actuators ◽  
2021 ◽  
Vol 10 (6) ◽  
pp. 122
Author(s):  
Dejun Yin ◽  
Junjie Wang ◽  
Jinjian Du ◽  
Gang Chen ◽  
Jia-Sheng Hu
Keyword(s):  
Electric Vehicles ◽  
Vehicle Stability ◽  
Hardware In The Loop ◽  
Control Performance ◽  
Torque Distribution ◽  
Handling Performance ◽  
Control Approach ◽  
Tire Forces ◽  
Yaw Moment ◽  
New Distribution

Torque distribution control is a key technique for four-wheel independent-drive electric vehicles because it significantly affects vehicle stability and handling performance, especially under extreme driving conditions. This paper, which focuses on the global yaw moment generated by both the longitudinal and the lateral tire forces, proposes a new distribution control to allocate driving torques to four-wheel motors. The proposed objective function not only minimizes the longitudinal tire usage, but also make increased use of each tire to generate yaw moment and achieve a quicker yaw response. By analysis and a comparison with prior torque distribution control, the proposed control approach is shown to have better control performance in hardware-in-the-loop simulations.

scholarly journals A sliding mode algorithm for antilock braking/traction control of EVs

2015 ◽  
Vol 18 (3) ◽  
pp. 174-182 ◽  
Author(s):  
Minh Ngoc Vu ◽  
Minh Cao Ta
Keyword(s):  
Electric Vehicles ◽  
Driving Force ◽  
Control Method ◽  
Sliding Mode ◽  
Sliding Mode Controller ◽  
Control Performance ◽  
Slip Ratio ◽  
Traction Control ◽  
Road Condition ◽  
Wheel Model

This paper presents a slip suppression controller using sliding mode control method for electric vehicles which aims to improve the control performance of Evs in both driving and braking mode. In this method, a sliding mode controller is designed to obtain the maximum driving force by suppressing the slip ratio. The numerical simulations for one wheel model under variations in mass of vehicle and road condition are performed and demonstrated to show the effectiveness of the proposed method.

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.

Longitudinal-vertical integrated sliding mode controller for distributed electric vehicles

2020 ◽  
Vol 63 (11) ◽  
Author(s):  
Yan Ma ◽  
Jinyang Zhao ◽  
Haiyan Zhao ◽  
Hong Chen ◽  
Tielong Shen
Keyword(s):  
Electric Vehicles ◽  
Sliding Mode ◽  
Sliding Mode Controller

Adaptive Sliding Mode Control of Piezoelectric Tube Actuator With Hysteresis, Creep and Coupling Effect

2010 ◽  
Author(s):  
S. H. Chung ◽  
Eric H. K. Fung
Keyword(s):  
Sliding Mode ◽  
Coupling Effect ◽  
Linear Part ◽  
Tracking Error ◽  
Adaptive Sliding Mode Control ◽  
Sliding Mode Controller ◽  
Fe Model ◽  
Time Varying ◽  
Adaptive Sliding Mode ◽  
Adaptive Sliding Mode Controller

The piezoelectric tube actuator of Atomic Force Microscope (AFM) realizes rapid scanning in nano-scale. However, hysteresis, creep and coupling effect of piezoelectric tube actuator significantly limit the precision of AFM. In this paper, an adaptive sliding mode controller is proposed to minimize the tracking error due to the adverse effects. The piezoelectric tube actuator is characterized as a multiple-input-multiple-output (MIMO) nonlinear time-varying system because of hysteresis and creep. The controller is designed based on the reduced order nonlinear finite element (FE) model. Hysteresis is divided into a linear part and a bounded time-varying unknown part to reduce the bound of the uncertainties. The latter part together with creep and electrode dislocation is considered as bounded uncertainty. The controller gains of the equivalent control part are estimated through adaptive laws. The sliding mode observer is designed based on Walcott Zak observer for estimating the unmeasurable states. Lyapunov criterion is stated to guarantee the stability of the closed loop system. The simulation of the piezoelectric tube actuator with the adaptive sliding mode controller is performed under scanning operation. The result shows that the tracking errors are bounded in small values. Finally, the performance of the adaptive sliding mode controller is compared with the output feedback controller and the proportional-integral (PI) controller which is commonly adopted in AFM.

scholarly journals A Robust Fuzzy Sliding Mode Controller Synthesis Applied on Boost DC-DC Converter Power Supply for Electric Vehicle Propulsion System

2013 ◽  
Vol 2013 ◽  
pp. 1-9 ◽  
Author(s):  
Boumediène Allaoua ◽  
Brahim Mebarki ◽  
Abdellah Laoufi
Keyword(s):  
Power Electronics ◽  
Electric Vehicle ◽  
Electric Vehicles ◽  
High Power ◽  
Power Supply ◽  
Sliding Mode ◽  
Propulsion System ◽  
Control Law ◽  
Sliding Mode Controller ◽  
Fuzzy Sliding Mode

The development of electric vehicles power electronics system control comprising of DC-AC inverters and DC-DC converters takes a great interest of researchers in the modern industry. A DC-AC inverter supplies the high power electric vehicle motors torques of the propulsion system and utility loads, whereas a DC-DC converter supplies conventional low-power, low-voltage loads. However, the need for high power bidirectional DC-DC converters in future electric vehicles has led to the development of many new topologies of DC-DC converters. Nonlinear control of power converters is an active area of research in the fields of power electronics. This paper focuses on a fuzzy sliding mode strategy (FSMS) as a control strategy for boost DC-DC converter power supply for electric vehicle. The proposed fuzzy controller specifies changes in the control signal based on the surface and the surface change knowledge to satisfy the sliding mode stability and attraction conditions. The performances of the proposed fuzzy sliding controller are compared to those obtained by a classical sliding mode controller. The satisfactory simulation results show the efficiency of the proposed control law which reduces the chattering phenomenon. Moreover, the obtained results prove the robustness of the proposed control law against variation of the load resistance and the input voltage of the studied converter.

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.

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