A Novel Tyre Force Distribution Method for Four-Wheel Independent Driving Vehicles

2014 ◽  
Vol 668-669 ◽  
pp. 124-128
Author(s):  
Chang Lin Li ◽  
Jin Xiang Wang ◽  
Nan Chen
Keyword(s):  
Penalty Method ◽  
Function Method ◽  
Optimal Algorithm ◽  
Force Distribution ◽  
Penalty Function Method ◽  
Distribution Method ◽  
Yaw Rate ◽  
Simulation Results ◽  
Upper Level ◽  
Yaw Moment

This paper discusses an optimal algorithm for distributing tyre force by an analytical multiplier penalty function method with which the maneuverability and stability of the four-wheel independent driving vehicles can be improved. Based on hierarchical method, the controller is divided into the upper level and lower level one. In the upper level controller, the yaw moment is calculated by sliding control to track the desired yaw rate. In the lower level controller, the analytical multiplier penalty method is utilized to distribute the yaw moment to tyre forces according with equality constraints of yaw and longitudinal acceleration. Simulation was conducted with Matlab/Simulink and Carsim. Simulation results show that the proposed method is effective.

scholarly journals Research on Steering Stability Control Strategy of Four-wheel Independent Electric Drive Special Vehicles

2021 ◽  
Vol 248 ◽  
pp. 02041
Author(s):  
Liao Zili ◽  
Shu Xin ◽  
Cai Lichun ◽  
Zhang Linyun
Keyword(s):  
Driving Force ◽  
Sliding Mode ◽  
Stability Control ◽  
Utilization Rate ◽  
Force Distribution ◽  
Sideslip Angle ◽  
Distribution Method ◽  
Yaw Rate ◽  
Optimization Function ◽  
Yaw Moment

In order to solve the steering stability problem of a special four-wheel independent electric vehicle, a dynamic model of the vehicle was established to analyze the cause of vehicle instability. A steering stability controller was designed, which included the upper yaw moment controller and the lower driving force distribution controller. Based on the sliding mode control algorithm, the yaw moment controller determines the yaw moment required while the vehicle is moving by controlling the yaw rate and sideslip angle. Based on the safety distribution method, the driving force distribution controller selects the sum of tire utilization rate as the optimization function to realize the optimal distribution of yaw moment. Software of MATLAB/Simulink and CarSim were used to build a co-simulation platform, and the designed steering stability controller was analyzed and verified. The simulation results show that the steering stability controller is helpful to improve the steering ability and handling stability of the vehicle in the extreme working conditions.

Torque Distribution Control for Multi-Wheeled Combat Vehicle

2014 ◽  
Author(s):  
Hossam Ragheb ◽  
Moustafa El-Gindy ◽  
Hossam Kishawy
Keyword(s):  
Lateral Acceleration ◽  
Pid Controllers ◽  
Torque Distribution ◽  
Yaw Rate ◽  
Bicycle Model ◽  
Torque Vectoring ◽  
Combat Vehicle ◽  
Simulation Results ◽  
Driving Torque ◽  
Yaw Moment

Multi-wheeled combat vehicles behavior depends not only on the available total driving torque but also on its distribution among the drive axles/wheels. In turn, this distribution is largely regulated by the drivetrain layout and its torque distribution devices. In this paper, a multi-wheeled (8×4) combat vehicle bicycle model has been developed and used to obtain the desired yaw rate and lateral acceleration to become reference for the design of the controllers. PID controllers were designed as upper and lower layers of the controllers. The upper controller develops the corrective yaw moment, which is the input to the lower controller to manage the independent torque distribution (torque vectoring) among the driving wheels. Several simulation maneuvers have been performed at different vehicle speeds using Matlab/Simulink-TruckSim to investigate the proposed torque vectoring control strategy. The simulation results with the proposed controller showed a significant improvement over conventional driveline, especially at severe maneuvers.

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).

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).

CHAOS SYNCHRONIZATION VIA UNIDIRECTIONAL COUPLING AND ITS APPLICATION TO SECURE COMMUNICATION

2009 ◽  
Vol 23 (32) ◽  
pp. 5949-5964 ◽  
Author(s):  
XINGYUAN WANG ◽  
MINGJUN WANG
Keyword(s):  
Secure Communication ◽  
Chaos Synchronization ◽  
Function Method ◽  
The Self ◽  
Largest Lyapunov Exponent ◽  
Global Synchronization ◽  
Unidirectional Coupling ◽  
Response System ◽  
Lyapunov Function Method ◽  
Simulation Results

This paper studies chaos synchronization via unidirectional coupling. The self-synchronization of Lorenz systems, modified coupled dynamos systems and hyperchaotic Chen systems is studied by three methods: the Lyapunov function method, the global synchronization method and the numerical calculation of the largest Lyapunov exponent method. In regard to application to communication, we show that via transmitting single signal the synchronization of the drive system and the response system can be achieved. An example of applying self-synchronization of hyperchaotic Chen systems to chaotic masking secure communication is presented in this paper. Simulation results show the effectiveness of the method.

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