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.

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.

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.

Energy-efficient control strategy for variable speed-driven parallel pumping systems

2012 ◽  
Vol 6 (3) ◽  
pp. 495-509 ◽  
Author(s):  
Juha Viholainen ◽  
Jussi Tamminen ◽  
Tero Ahonen ◽  
Jero Ahola ◽  
Esa Vakkilainen ◽  
...  
Keyword(s):  
Control Strategy ◽  
Energy Efficient ◽  
Variable Speed ◽  
Efficient Control

scholarly journals Dynamic Analysis and Motion Control of an Underactuated Unmanned Surface Vehicle (WL-II)

2017 ◽  
Vol 51 (6) ◽  
pp. 10-20 ◽  
Author(s):  
Ying Wu ◽  
Shengqiang Yang ◽  
Wenhui Li ◽  
Daliang Liu ◽  
Kang Hou
Keyword(s):  
Motion Control ◽  
Dynamic Models ◽  
Sliding Mode ◽  
State Equation ◽  
Superior Performance ◽  
Adaptive Sliding Mode Control ◽  
Sea Waves ◽  
Motion Platform ◽  
Unmanned Surface Vehicle ◽  
Heading Control

AbstractAn unmanned surface vehicle (USV) is a promising maritime motion platform used to accomplish hundreds of different tasks. This paper presents a design, improved dynamic modeling, and motion control of an underactuated USV, called WL-II. The detailed structure and component of WL-II are studied first. Then based on WL-II's structure, kinematic and dynamic models are built considering wind as well as sea waves; thus, a nonlinear dynamics model is deduced in the form of a state equation. The hardware and software systems of WL-II are introduced for its control mechanism. Then, the adaptive sliding mode control (SMC) algorithm for WL-II's motion is examined. The simulation and experimental results validate the superior performance of the proposed algorithm for WL-II's heading control to the regular SMC method. In this paper, improved dynamics, which consider more parameters (wind and sea waves), are proposed and reasonably simplified for computation. The adaptive SMC is used to control WL-II's motion to improve control precision and reduce response time.

Nonlinear adaptive sliding mode tracking control of an airplane with wing damage

2017 ◽  
Vol 232 (8) ◽  
pp. 1405-1420 ◽  
Author(s):  
D Asadi ◽  
SA Bagherzadeh
Keyword(s):  
Adaptive Control ◽  
Flight Control ◽  
Control Strategy ◽  
Sliding Mode ◽  
Robust Adaptive Control ◽  
Adaptive Sliding Mode Control ◽  
Damage Effect ◽  
Outer Loop ◽  
Adaptive Sliding Mode ◽  
Wing Damage

This paper investigates a dual-timescale autopilot for a wing-damaged airplane applying nonlinear adaptive sliding mode approach. The adaptive flight control strategy is used to track outer-loop angle commands while accommodating wing damage effect. Two distinct adaptive sliding mode control strategies are designed for the inner- and outer-loop dynamics. The airplane nonlinear model is developed considering center of gravity shift and aerodynamic changes due to the asymmetric wing damage. The performance of the proposed nonlinear adaptive sliding mode controller is evaluated through numerical simulation on NASA generic transport model and is compared with two adaptive algorithms: model reference adaptive control and a robust adaptive control strategy. The results demonstrate that the proposed control law achieves closed-loop stability in the presence of wing damage and accelerometers bias, and also provides satisfactory tracking performance.

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