Assistance Quality Analysis and Robust Control of Electric Vehicle With Differential Drive Assisted Steering System

Abstract

As a novel power steering technology, Differential Drive Assisted Steering (DDAS) technology for the independent-wheel-drive electric vehicle has gradually appealed to researcher's attention. However, the previous experimental results show that its assistance quality cannot be fully accepted due to its caused sensitive steering wheel torque fluctuation in actual work environment. According to the working principle of the DDAS system, it is founded that the road roughness, the front wheel alignment parameters and sensor noise are the main factors that influence the quality of assisted steering and driver's road feel. Hence the three factors are added as interference into the ideal vehicle model. The simulation results and its comparison with the previous real vehicle tests confirm this causality between these factors considered and the steering wheel torque fluctuation of the DDAS system. Then a robust H ∞ loop-shaping controller is designed to solve the issue caused by these inner interferences and outer noises. Simulations results validate the proposed controller and show better steering wheel torque performance than the traditional anti-windup PID controller published in the literature earlier.The proposed robust controller is further verified via real vehicle tests and the results are similar to the simulation results which can effectively suppress the steering wheel torque ripple, improve the anti-interference ability of DDAS system and greatly improve the driver's road feel.

Mode Transition Control of a Power-Split Hybrid Electric Vehicle Based on Improved Extended State Observer

“…According to the three stages of the E-H mode switching process, the expressions of the initial target torque of each power sources shown in eq. (22)(23)(24)(25)(26)(27)(28)(29)(30) are derived.…”

“…At present, the commonly used anti-interference methods include active disturbance rejection control [20], adaptive control [21], robust control [22], adaptive robust control [23] and so on. Sun et al [24] proposed an adaptive control method that can effectively solve the parameter uncertainty and external interference of the pneumatic artificial muscle system.…”

An anti-windup control strategy for discrete time-delay system based on triple Lyapunov functional

“…Time delay is a natural phenomenon which is inevitably present in all practical systems due to finite computation capability of real-time system and transportation lag in transmitted signals (Huang et al, 2022; Singh et al, 2021; Wang et al, 2020). It is a major cause of instability, poor performance, and oscillations (Chen et al, 2019; Kwon et al, 2013).…”

“…The controller sends control signal to final control elements like actuator and valve for getting the desired response from the industrial systems (Valenzuela, 2021). Due to various physical limitations in terms of finite voltage and current handling capacity, saturation appears in different practical systems, causing deterioration in their performance (Wang et al, 2020; Xu et al, 2012). A controller with actuator constraints in unstable mode may exhibit windup problems as discussed in the study by Doyle et al (1987).…”

Experimental Study of Electric Vehicle Yaw Rate Tracking Control Based on Differential Steering

“…e study in [12] investigated the feasibility of differential drive torque assisted steering and the capability of road feel keeping of the control system. In addition, Wang et al conducted a study on the assistance quality analysis and robust control of electric vehicle with differential drive assisted steering system in [13]. e study in [14] investigated the differential power-assisted steering system of in-wheel electric vehicle based on a collaborative optimization model.…”