scholarly journals Direct Yaw Moment Control for Enhancing Handling Quality of Lightweight Electric Vehicles with Large Load-To-Curb Weight Ratio

2019 ◽  
Vol 9 (6) ◽  
pp. 1151 ◽  
Author(s):  
Pongsathorn Raksincharoensak ◽  
Sato Daisuke ◽  
Mathias Lidberg
Keyword(s):  
Experimental Study ◽  
Vehicle Dynamics ◽  
Driving Simulator ◽  
Feedback Gain ◽  
Lane Change ◽  
Vehicle Handling ◽  
Feed Forward ◽  
Yaw Rate ◽  
Rate Feedback ◽  
Yaw Moment

In this paper a vehicle dynamics control system is designed to compensate the change in vehicle handling dynamics of lightweight vehicles due to variation in loading conditions and the effectiveness of the proposed design is verified by simulations and an experimental study using a fixed-base driving simulator. Considering the electrification of future mobility, the target vehicle of this research is a lightweight vehicle equipped with in-wheel motors that can generate an additional direct yaw moment by transverse distribution of traction forces to control vehicle yawing as well as side slip motions. Previously, the change in vehicle handling dynamics for various loading conditions have been analyzed by using a linear two-wheel vehicle model in planar motion and a control law of the DYC system based on feed-forward of front steering angular velocity and feedback of vehicle yaw rate. The feed-forward controller is derived based on the model following control with approximation of the vehicle dynamics to 1st-order transfer function. To make the determination of the yaw rate feedback gain model-based and adaptable to various vehicle velocity conditions, this paper selects a method where the yaw rate feedback gain in the DYC system is determined in a way that the steady-state yaw rate gain of the controlled loaded vehicle matches the gain of the unloaded vehicle. The DYC system is simulated in a single lane change maneuver to confirm the improved responsiveness of the vehicle while simulations of a double-lane change maneuver with a driver steering model confirms the effectiveness of the DYC system to support tracking control. Finally, the effectiveness of the proposed DYC system is also verified in an experimental study with ten human drivers using a fix-based driving simulator.

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.

Vehicle Stability Analyse with Electronic Power Steering Based on Yaw Rate Feedback

2013 ◽  
Vol 397-400 ◽  
pp. 1351-1356
Author(s):  
Hai Feng Song ◽  
Wei Wei Yang
Keyword(s):  
Control Method ◽  
Integrated Control ◽  
Vehicle Stability ◽  
Vehicle Model ◽  
Steering Angle ◽  
Yaw Rate ◽  
Power Steering ◽  
Rate Feedback ◽  
Yaw Stability ◽  
Yaw Moment

A control method is proposed to improve vehicle yaw stability by the integrated control of yaw moment control. The control strategy using feedback compensator is proposed, which produces direct yaw moment and front steering angle to control yaw rate, by actively controlling the front steering angle, the integrated control system makes the performance of the actual vehicle model follow that of an ideal vehicle model. A experiment is performed at different conditions, the results showed the presented method can effectively control the yaw rate, and at the same time lighten the burden of the driver. Key words: EPS; Yaw rate feedback; Vehicle stability

Vehicle Dynamics Control Based on Linear Quadratic Regulator

2009 ◽  
Vol 16-19 ◽  
pp. 876-880
Author(s):  
Si Qi Zhang ◽  
Tian Xia Zhang ◽  
Shu Wen Zhou
Keyword(s):  
Control Strategy ◽  
Vehicle Dynamics ◽  
Linear Quadratic Regulator ◽  
Active Safety ◽  
Vehicle Stability ◽  
Steering Control ◽  
Linear Quadratic ◽  
Yaw Rate ◽  
Vehicle Dynamics Control ◽  
Yaw Moment

The paper presents a vehicle dynamics control strategy devoted to prevent vehicles from spinning and drifting out. With vehicle dynamics control system, counter braking are applied at individual wheels as needed to generate an additional yaw moment until steering control and vehicle stability were regained. The Linear Quadratic Regulator (LQR) theory was designed to produce demanded yaw moment according to the error between the measured yaw rate and desired yaw rate. The results indicate the proposed system can significantly improve vehicle stability for active safety.

scholarly journals A driver model–based direct yaw moment controller for in-wheel motor electric vehicles

2019 ◽  
Vol 11 (9) ◽  
pp. 168781401987731
Author(s):  
Qiguang Wang ◽  
Ye Zhuang ◽  
Jiannan Wei ◽  
Konghui Guo
Keyword(s):  
Driving Simulator ◽  
Sliding Mode ◽  
Driver Model ◽  
Torque Distribution ◽  
Yaw Rate ◽  
Model Based ◽  
Control Set ◽  
The Difference ◽  
Driver’S Intention ◽  
Yaw Moment

In this article, a driver model–based direct yaw moment controller, selected as the upper controller, is developed, of which the control target is determined through a reference driver model in accordance with the driver’s intention. The sliding surface is chosen by the difference between the desired yaw rate and the real output yaw rate. Then, the desired yaw moment is calculated by the sliding mode control. In the lower controller, a novel control torque distribution strategy is designed based on the analysis of the tire characteristics. In addition, an admissible control set of the control torques is calculated in real time through an embedded tire model “UniTire.” Finally, a driver-in-the-loop experiment, via the driving simulator, is conducted to verify the proposed direct yaw moment controller.

A Feedback Control Strategy for Torque-Vectoring of IWM Vehicles

2014 ◽  
Author(s):  
Francesco Braghin ◽  
Edoardo Sabbioni ◽  
Gabriele Sironi ◽  
Michele Vignati
Keyword(s):  
Electric Vehicles ◽  
Automotive Industry ◽  
Control Strategy ◽  
Control Logic ◽  
Power Train ◽  
Vehicle Handling ◽  
Torque Vectoring ◽  
Feedback Control Strategy ◽  
Object Of Study ◽  
Yaw Moment

In last decades hybrid and electric vehicles have been one of the main object of study for automotive industry. Among the different layout of the electric power-train, four in-wheel motors appear to be one of the most attractive. This configuration in fact has several advantages in terms of inner room increase and mass distribution. Furthermore the possibility of independently distribute braking and driving torques on the wheels allows to generate a yaw moment able to improve vehicle handling (torque vectoring). In this paper a torque vectoring control strategy for an electric vehicle with four in-wheel motors is presented. The control strategy is constituted of a steady-state contribution to enhance vehicle handling performances and a transient contribution to increase vehicle lateral stability during limit manoeuvres. Performances of the control logic are evaluated by means of numerical simulations of open and closed loop manoeuvres. Robustness to friction coefficient changes is analysed.

Comparison of Analytical and Empirical Models to Capture Variations in Off-Road Vehicle Dynamics

2005 ◽  
Author(s):  
Paul J. Pearson ◽  
David M. Bevly
Keyword(s):  
Empirical Data ◽  
Vehicle Dynamics ◽  
Experimental Validation ◽  
Inertial Sensors ◽  
Analytical Models ◽  
Control Algorithms ◽  
Model Parameters ◽  
Steering Control ◽  
Steering Angle ◽  
Yaw Rate

This paper develops two analytical models that describe the yaw dynamics of a farm tractor and can be used to design or improve steering control algorithms for the tractor. These models are verified against empirical data. The particular dynamics described are the motions from steering angle to yaw rate. A John Deere 8420 tractor, outfitted with inertial sensors and controlled through a PC-104 form factor computer, was used for experimental validation. Conditions including different implements at varying depths, as would normally be found on a farm, were tested. This paper presents the development of the analytical models, validates them against empirical data, and gives trends on how the model parameters change for different configurations.

scholarly journals Comparison of Typical Controllers for Direct Yaw Moment Control Applied on an Electric Race Car

Vehicles ◽  
2021 ◽  
Vol 3 (1) ◽  
pp. 127-144
Author(s):  
Andoni Medina ◽  
Guillermo Bistue ◽  
Angel Rubio
Keyword(s):  
Handling Performance ◽  
Electric Cars ◽  
Control Techniques ◽  
Race Car ◽  
Yaw Rate ◽  
Direct Yaw Moment Control ◽  
Yaw Moment Control ◽  
Moment Control ◽  
Race Track ◽  
Yaw Moment

Direct Yaw Moment Control (DYC) is an effective way to alter the behaviour of electric cars with independent drives. Controlling the torque applied to each wheel can improve the handling performance of a vehicle making it safer and faster on a race track. The state-of-the-art literature covers the comparison of various controllers (PID, LPV, LQR, SMC, etc.) using ISO manoeuvres. However, a more advanced comparison of the important characteristics of the controllers’ performance is lacking, such as the robustness of the controllers under changes in the vehicle model, steering behaviour, use of the friction circle, and, ultimately, lap time on a track. In this study, we have compared the controllers according to some of the aforementioned parameters on a modelled race car. Interestingly, best lap times are not provided by perfect neutral or close-to-neutral behaviour of the vehicle, but rather by allowing certain deviations from the target yaw rate. In addition, a modified Proportional Integral Derivative (PID) controller showed that its performance is comparable to other more complex control techniques such as Model Predictive Control (MPC).

Safety Impact of Weaving Distance on Freeway Facilities with Managed Lanes using Both Microscopic Traffic and Driving Simulations

2018 ◽  
Vol 2672 (39) ◽  
pp. 130-141 ◽  
Author(s):  
Qing Cai ◽  
Moatz Saad ◽  
Mohamed Abdel-Aty ◽  
Jinghui Yuan ◽  
Jaeyoung Lee
Keyword(s):  
Traffic Safety ◽  
Traffic Congestion ◽  
Driving Simulator ◽  
Negative Impact ◽  
Control Strategies ◽  
General Purpose ◽  
Valuable Insight ◽  
Lane Change ◽  
Simulation Studies ◽  
Managed Lanes

With the challenges of increasing traffic congestion, the concept of managed lanes (MLs) has been gaining popularity recently as a means to effectively improve traffic mobility. MLs are usually designed to be left-lane concurrent with an at-grade access/exit. Such a design forms weaving segments since it requires vehicles to change multiple general purpose lanes (GPLs) to enter or exit the ML. The weaving segments could have a negative impact on traffic safety in the GPLs. This study provides a comprehensive investigation of the safety impact of different lengths for each lane change maneuver on GPL weaving segments close to the ingress and egress of MLs through two simulation approaches: VISSIM microsimulation and driving simulator. The two simulation studies are developed based on traffic data collected from freeway I-95 in Miami, Florida. The results from the two simulation studies support each other. Based on the two simulation studies, it is recommended that 1,000 feet be used as the optimal length for per lane change at the GPLs weaving segments with MLs. The safety impact of traffic volume, variable speed limit control strategies, and drivers’ gender and age characteristics are also explored. This study can provide valuable insight for evaluating the traffic performance of freeway weaving segments with the presence of concurrent GPLs and MLs in a highway safety context. It also provides guidelines for future conversion of freeways to include MLs.

Composite Nonlinear Feedback Control with Multi-objective Particle Swarm Optimization for Active Front Steering System

2015 ◽  
Vol 72 (2) ◽  
Author(s):  
Liyana Ramli ◽  
Yahaya Md. Sam ◽  
Zaharuddin Mohamed ◽  
M. Khairi Aripin ◽  
M. Fahezal Ismail
Keyword(s):  
Parameter Estimation ◽  
Particle Swarm Optimization ◽  
Nonlinear Feedback ◽  
Nonlinear Gain ◽  
Composite Nonlinear Feedback ◽  
Swarm Optimization ◽  
Vehicle Handling ◽  
Multi Objective ◽  
Yaw Rate ◽  
Active Front Steering

The purpose of controlling the vehicle handling is to ensure that the vehicle is in a safe condition and following its desire path. Vehicle yaw rate is controlled in order to achieve a good vehicle handling. In this paper, the optimal Composite Nonlinear Feedback (CNF) control technique is proposed for an Active Front Steering (AFS) system for improving the vehicle yaw rate response. The model used in order to validate the performance of controller is nonlinear vehicle model with 7 degree-of-freedom (DOF) and a bicycle model is implemented for the purpose of designing the controller. In designing an optimal CNF controller, the parameter estimation of linear and nonlinear gain becomes very important to produce the best output response. An intelligent algorithm is designed to minimize the time consumed to get the best parameter. To design an optimal method, Multi Objective Particle Swarm Optimization (MOPSO) is utilized to optimize the CNF controller performance. As a result, transient performance of the yaw rate has improved with the increased speed of in tracking and searching of the best optimized parameter estimation for the linear and the nonlinear gain of CNF controller.  

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