A new strategy for minimum usage of external yaw moment in vehicle dynamic control system

Robust Vehicle Stability Control Based on Sideslip Angle Estimation

“…3 that the sideslip angle of the controlled system converges to the desired sideslip value, zero degree. On the contrary, the sideslip angle of the uncontrolled system is big which may cause vehicle unstable motion (Mirzaei, 2010). It is also observed from Fig.…”

“…The yaw moment control has been regarded as one of the most promising means of vehicle stability control, which could considerably enhance vehicle handling and stability (Abe, 1999;Mirzaei, 2010). Up to the date, different strategies on yaw moment control, such as optimal control (Esmailzadeh et al, 2003;Mirzaei et al, 2008), fuzzy logic control (Boada et al, 2005;Li & Yu 2010), internal model control (IMC) (Canale et al, 2007), flatness-based control (Antonov et al, 2008), and coordinated control (Yang et al, 2009), etc., have been proposed in the literature.…”

Experimental Investigation on Hydro-electric Steering system

“…Fully electric vehicles with individually controlled electric motor drives provide significant benefits in terms of vehicle cornering response. In particular, the control of the left-to-right and front-to rear wheel torque distributions, also called torque-vectoring or direct yaw moment control, has been shown to be beneficial in: i) shaping the under steer characteristic (i.e., the graph of steering wheel angle against lateral acceleration) [5,6] Several controllers have been proposed for the direct yaw moment control of fully electric vehicles with multiple motors, such as proportional integral derivative (PID) controllers running in parallel with non-linear feed forward contributions [5], linear quadratic regulators [7,8], and various configurations of sliding mode control [9,10], each of them with specific advantages and disadvantages. From the view point of the low-level controllers for all locating the wheel torques, some authors propose energy-efficient wheel torque distribution criteria for the generation of the reference yaw moment and total wheel torque demand [2,11].…”

A Neural Network Combined Inverse Controller for a Two-Rear-Wheel Independently Driven Electric Vehicle

“…After being linearized by the proposed NNCI, the ultimate closed vehicle active safety system can be controlled by a traditional Proportional-Integral (PI) controller as shown in Figure 5, where the 2DOF model is used to generate the desired yaw rate and the desired sideslip angle [9]. The additional yaw moment M Z is allocated into the torques of two driving motors through the control allocation.…”

“…In this configuration, the motors OPEN ACCESS directly drive the wheels so that the power train is shortened and EV efficiency is raised. Furthermore, since the driving/braking force of each wheel can be independently controlled, some vehicle safety system such as anti-brake system and direct yaw-moment control (DYC) become more flexible and feasible [5][6][7][8][9]. Moreover, the driving/braking force can be estimated in real time so that the observer or estimate technique can be applied easily.…”