Coordination Control of Differential Drive Assist Steering and Vehicle Stability Control for Four-Wheel-Independent-Drive EV

Wang, Junnian; Zhi, Luo; Wang, Yan; Yang, Bin; Assadian, Francis

doi:10.1109/tvt.2018.2872857

Cited by 102 publications

(39 citation statements)

References 16 publications

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“…In this paper, the motor model is built in MATLAB/Simulink, and the output torque is input into the CarSim vehicle model. The motor model can be simplified to a second-order torque response system as follows 22…”

Section: Ddev Modelingmentioning

confidence: 99%

Coordinated control of stability and economy based on torque distribution of distributed drive electric vehicle

Zhao

Deng

et al. 2019

Proceedings of the Institution of Mechanical Engineers, Part D:

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The torque distribution strategy of distributed drive electric vehicle is only aimed at safety or economy. A multi-target coordinated control method considering stability and economy is proposed to solve the problem of single torque distribution target, which consists of a coordination decision controller, a high-level motion controller, and a low-level allocation controller. The coordination decision controller based on the phase plane method determines whether to adopt a stability or economic control strategy. The high-level motion controller consists of a bicycle model with 2 degree of freedom, a speed tracking controller, a stability controller, and an economic controller to calculate the desired direct yaw moment of the four in-wheel motors. The stability controller based on the fuzzy algorithm tracks the desired vehicle side slip angle and yaw rate calculated by the bicycle model with 2 degree of freedom to control vehicle stability. The economical controller based on a multi-motor loss model optimizes the efficiency of the vehicle’s drive system. The low-level allocation controller is presented to provide optimally distributed torques for each wheel. Finally, the simulation and hardware-in-the-loop testing show that the coordinated control strategy can effectively improve the stability and economy of the distributed drive electric vehicle.

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Section: Ddev Modelingmentioning

confidence: 99%

Coordinated control of stability and economy based on torque distribution of distributed drive electric vehicle

Zhao

Deng

et al. 2019

Proceedings of the Institution of Mechanical Engineers, Part D:

View full text Add to dashboard Cite

show abstract

“…There are some problems when taking the differential steering as an independent steering actuator. One of the problems is that the left-front and right-front wheel torque difference required for differential steering will generate additional yaw moments to vehicle, which will affect the lateral stability [9]. The differential steering dynamics characteristics and vehicle lateral dynamics characteristics were analyzed in [10], [11], and the dynamics model of 4MIDEV including differential steering dynamics characteristics was established.…”

Section: Introductionmentioning

confidence: 99%

Multi-Objective Comprehensive Control of Trajectory Tracking for Four-In-Wheel-Motor Drive Electric Vehicle With Differential Steering

Wang

Cui

et al. 2021

IEEE Access

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For 4MIDEV with differential steering, the trajectory tracking multi-objective control method is studied. The dynamics model of the four-in-wheel motor independent-drive vehicle (4MIDEV) is established comprehensively considering the differential steering dynamics characteristics, longitudinal dynamics characteristics, and lateral dynamics characteristics. Takagi Sugeno (T-S) fuzzy method is adopted to deal with the nonlinear and time-varying characteristics of the model parameters such as vehicle longitudinal speed and the front steering wheel angle. The trajectory tracking control targets are divided into the kinematic control target considering the trajectory tracking accuracy and the dynamics control target considering longitudinal speed tracking as well as lateral stability performance. The generalized 2 norm and ∞ norm are selected to constrain the kinematic control target and the dynamics control target respectively. The generalized 2 / ∞ trajectory tracking controller is designed to improve the trajectory tracking accuracy and longitudinal speed tracking as well as lateral stability performance. The hardware in the loop test (HIL) verified that the designed trajectory tracking multi-objective controller can improve the comprehensive performance of vehicle and balance the trajectory tracking accuracy between the longitudinal and lateral dynamics performance.

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“…Zhao established the simulation model of DDEV and adopted a slip rate control scheme to realize the synchronous coordinated control [12]. Wang built a dynamic EV model and suggested the hierarchical coordination control approach for coordination control [13]. Park built the EV mathematical model and simulate the special conditions for the driving and steering of the vehicle [14].…”

Section: Introductionmentioning

confidence: 99%

An Electronic Line-Shafting Control Strategy Based on Sliding Mode Observer for Distributed Driving Electric Vehicles

Huang

Jiang

et al. 2021

IEEE Access

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This paper proposed control schemes to realize the collaborative control as well as enhance the control precision for the distributed driving electric vehicle (DDEV). Firstly, we suggested an electronic lineshafting (ELS) to realize the cooperative control for the Multi-Motor system which is installed in the DDEV. Secondly, we adopted a nonsingular terminal sliding mode control (NTSMC) method combined with a sliding mode observer (SMO) to quicken the response velocity and strengthen the robustness of the single motor controller. Finally, for the chattering value caused by the internal parameter variation and external disturbance, a fuzzy algorithm is proposed to obtain the controller parameters of NTSMC in real-time to eliminate the chattering value of DDEV. Through several simulations and experiments, the results demonstrate that the proposed strategies can realize ideal collaborative control for the Multi-Motor system, as well as improve the dynamic performance and anti-jamming ability for the whole control system of DDEV. INDEX TERMS distributed driving electric vehicle, Multi-Motor system, electronic line-shafting, nonsingular terminal sliding mode control, sliding mode observer

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Coordination Control of Differential Drive Assist Steering and Vehicle Stability Control for Four-Wheel-Independent-Drive EV

Cited by 102 publications

References 16 publications

Coordinated control of stability and economy based on torque distribution of distributed drive electric vehicle

Coordinated control of stability and economy based on torque distribution of distributed drive electric vehicle

Multi-Objective Comprehensive Control of Trajectory Tracking for Four-In-Wheel-Motor Drive Electric Vehicle With Differential Steering

An Electronic Line-Shafting Control Strategy Based on Sliding Mode Observer for Distributed Driving Electric Vehicles

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