Journal ArticleDOI
Vehicle dynamics control of four in-wheel motor drive electric vehicle using gain scheduling based on tyre cornering stiffness estimation
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In this paper, a vehicle dynamics controller is composed of three modules, i.e. motion following control, control allocation and vehicle state estimation, aiming at improving vehicle stability under critical driving conditions.Abstract:
This paper focuses on the vehicle dynamic control system for a four in-wheel motor drive electric vehicle, aiming at improving vehicle stability under critical driving conditions. The vehicle dynamics controller is composed of three modules, i.e. motion following control, control allocation and vehicle state estimation. Considering the strong nonlinearity of the tyres under critical driving conditions, the yaw motion of the vehicle is regulated by gain scheduling control based on the linear quadratic regulator theory. The feed-forward and feedback gains of the controller are updated in real-time by online estimation of the tyre cornering stiffness, so as to ensure the control robustness against environmental disturbances as well as parameter uncertainty. The control allocation module allocates the calculated generalised force requirements to each in-wheel motor based on quadratic programming theory while taking the tyre longitudinal/lateral force coupling characteristic into consideration. Simulations under a variety of driving conditions are carried out to verify the control algorithm. Simulation results indicate that the proposed vehicle stability controller can effectively stabilise the vehicle motion under critical driving conditions.read more
Citations
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Journal ArticleDOI
Electronic Stability Control Based on Motor Driving and Braking Torque Distribution for a Four In-Wheel Motor Drive Electric Vehicle
Li Zhai,Tianmin Sun,Jie Wang +2 more
TL;DR: An electronic stability control (ESC) algorithm is proposed for a four in-wheel motor independent-drive electric vehicle (4MIDEV) utilizing motor driving and regenerative braking torque distribution control to improve vehicle stability.
Journal ArticleDOI
MPC-based yaw stability control in in-wheel-motored EV via active front steering and motor torque distribution
TL;DR: In this paper, a model predictive controller is designed based on holistic control structure via active front steering and motor torque distribution, which stabilizes a vehicle along the desired states while rejecting skid and fulfilling its physical constraints.
Journal ArticleDOI
An optimal torque distribution control strategy for four-independent wheel drive electric vehicles
TL;DR: In this article, an optimal torque distribution approach is proposed for electric vehicles equipped with four independent wheel motors to improve vehicle handling and stability performance by considering the interference among different performance indices: forces and moment errors at the centre of gravity of the vehicle, actuator control efforts and tyre workload usage.
Journal ArticleDOI
Vibration mitigation for in-wheel switched reluctance motor driven electric vehicle with dynamic vibration absorbing structures
TL;DR: A new approach for vibration mitigation based on a dynamic vibration absorbing structure (DVAS) for electric vehicles (EVs) that use in-wheel switched reluctance motors (SRMs) can augment the effective application of SRMs in EVs.
Journal ArticleDOI
Longitudinal Collision Avoidance and Lateral Stability Adaptive Control System Based on MPC of Autonomous Vehicles
TL;DR: A lateral-stability-coordinated collision avoidance control system (LSCACS) based on the model predictive control (MPC) that is validated by hardware-in-the-loop (HIL) tests, and the results show L SCACS’s effectiveness and great performance of the collision avoidance and lateral stability.
References
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Book
Tyre and vehicle dynamics
TL;DR: In this article, the wheel-shimmy phenomenon is considered in the context of dynamic tire testing and tire characteristics and vehicle handling and stability, and a variety of models are proposed.
Journal ArticleDOI
Future vehicle driven by electricity and Control-research on four-wheel-motored "UOT electric march II"
TL;DR: The UOT Electric March II as discussed by the authors is an experimental electric vehicle with four in-wheel motors, which is made for intensive study of advanced motion control of an electric vehicle (EV).
Journal ArticleDOI
Motion control in an electric vehicle with four independently driven in-wheel motors
TL;DR: In this paper, a robust dynamic yaw-moment control (DYC) is proposed for an electric vehicle with four independently driven in-wheel motors, which generates yaw from torque differences between the right and left wheels.
Backstepping and control allocation with applications to flight control
TL;DR: In this paper, an adaptive backstepping and nonlinear observer design method is proposed for nonlinear control problems in flight control and the results are presented in a general framework and can also be applied to other areas.