Four Wheel Independent Drive Electric Vehicle Lateral Stability Control Strategy

doi:10.1109/JAS.2019.1911729

CASIA OpenIR > 学术期刊 > IEEE/CAA Journal of Automatica Sinica

	Four Wheel Independent Drive Electric Vehicle Lateral Stability Control Strategy
	Yantao Tian; Xuanhao Cao; Xiaoyu Wang; Yanbo Zhao
发表期刊	IEEE/CAA Journal of Automatica Sinica
ISSN	2329-9266
	2020
卷号	7 期号:6 页码:1542-1554
摘要	In this paper, a kind of lateral stability control strategy is put forward about the four wheel independent drive electric vehicle. The design of control system adopts hierarchical structure. Unlike the previous control strategy, this paper introduces a method which is the combination of sliding mode control and optimal allocation algorithm. According to the driver’s operation commands (steering angle and speed), the steady state responses of the sideslip angle and yaw rate are obtained. Based on this, the reference model is built. Upper controller adopts the sliding mode control principle to obtain the desired yawing moment demand. Lower controller is designed to satisfy the desired yawing moment demand by optimal allocation of the tire longitudinal forces. Firstly, the optimization goal is built to minimize the actuator cost. Secondly, the weighted least-square method is used to design the tire longitudinal forces optimization distribution strategy under the constraint conditions of actuator and the friction oval. Beyond that, when the optimal allocation algorithm is not applied, a method of axial load ratio distribution is adopted. Finally, CarSim associated with Simulink simulation experiments are designed under the conditions of different velocities and different pavements. The simulation results show that the control strategy designed in this paper has a good following effect comparing with the reference model and the sideslip angle $\,\beta$ is controlled within a small rang at the same time. Beyond that, based on the optimal distribution mode, the electromagnetic torque phase of each wheel can follow the trend of the vertical force of the tire, which shows the effectiveness of the optimal distribution algorithm.
关键词	Four wheel drive electric vehicle least square method moment distribution sliding mode controller stability control
DOI	10.1109/JAS.2019.1911729
引用统计	被引频次：15[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/43055
专题	学术期刊_IEEE/CAA Journal of Automatica Sinica
推荐引用方式 GB/T 7714	Yantao Tian,Xuanhao Cao,Xiaoyu Wang,et al. Four Wheel Independent Drive Electric Vehicle Lateral Stability Control Strategy[J]. IEEE/CAA Journal of Automatica Sinica,2020,7(6):1542-1554.
APA	Yantao Tian,Xuanhao Cao,Xiaoyu Wang,&Yanbo Zhao.(2020).Four Wheel Independent Drive Electric Vehicle Lateral Stability Control Strategy.IEEE/CAA Journal of Automatica Sinica,7(6),1542-1554.
MLA	Yantao Tian,et al."Four Wheel Independent Drive Electric Vehicle Lateral Stability Control Strategy".IEEE/CAA Journal of Automatica Sinica 7.6(2020):1542-1554.

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