Differential Steering Control of Four-Wheel Independent-Drive Electric Vehicles

Tian, Jie; Tong, Jun; Luo, Shijun

doi:10.3390/en11112892

“…The goal of further development is to find a solution for road surface feedback and get it to the driver through the steering wheel. The solution can be force or torque sensors in combination with accelerometers or yaw rate sensors mounted on the wheels of the vehicle as described in [18,19].…”

Section: Results and Future Workmentioning

confidence: 99%

Electronic Steering of the Vehicle Axle with Force Feedback

Pawlenka¹,

Škuta²,

Kulhanek³

2020

Adv. sci. technol. eng. syst. j.

0

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The technology of electronic steering with force feedback is related to electronic vehicle control. This technology is also known as "steer-by-wire" technology and is specific in that there is not any mechanical connection between the axle and the steering wheel. This technology is currently not very widespread. However, developments in the automotive industry are slowly moving towards this technology in the context of autonomous vehicles. This study includes a review of current technologies in this area and suggests a technical solution for Steer-by-Wire technology and its verification in the real vehicle model in the university environment.

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“…In this section, a 7-DOF bus dynamics model is established based on previous literatures [29][30][31], which includes the longitudinal motion, lateral motion, yaw motion and the rotational dynamics of four wheels. According to Newton's theorem, the dynamic equations of the bus longitudinal, lateral and yaw motions can be established as follows [32]…”

Section: Bus Dynamics Modelmentioning

confidence: 99%

An adaptive nonsingular fast terminal sliding mode control for yaw stability control of bus based on STI tire model

Sun

¹

,

Wang

²

,

Cai

³

et al. 2020

Preprint

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In this paper, a novel adaptive nonsingular fast terminal sliding mode (ANFTSM) control scheme for yaw stability control (YSC) is proposed to improve the bus curve driving stability and safety on slippery roads. There are three major contributions in the design process of the bus YSC system. The first contribution is that the STI (Systems Technologies Inc.) tire model, which can effectively reflect the coupling relationship between the tire longitudinal force and lateral force, is established based on experimental data and firstly adopted in the bus YSC system design. The second contribution is a novel YSC strategy based on ANFTSM, which has the merits of fast transient response, finite time convergence and high robustness against uncertainties and external disturbances. The third contribution is that the robust least-squares allocation method is used to solve the optimal allocation problem of the tire forces, whose objective is to achieve the desired direct yaw moment through the effective distribution of the brake force of each tire. To verify the feasibility, effectiveness and practicality of the proposed bus YSC approach, the TruckSim-Simulink co-simulation results are finally provided.

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“…In this section, a 7-DOF bus dynamics model is established based on previous literatures [34][35][36], which includes the longitudinal motion, lateral motion, yaw motion and the rotational dynamics of four wheels. According to Newton's theorem, the dynamic equations of the bus longitudinal, lateral and yaw motions can be established as follows [37]:…”

Section: Bus Dynamics Modelmentioning

confidence: 99%

An adaptive nonsingular fast terminal sliding mode control for yaw stability control of bus based on STI tire model

Sun

¹

,

Wang

²

,

Cai

³

et al. 2020

Preprint

1

0

View full text Add to dashboard Cite

In this paper, a novel adaptive nonsingular fast terminal sliding mode (ANFTSM) control scheme for yaw stability control (YSC) is proposed to improve the bus curve driving stability and safety on slippery roads. There are three major contributions in the design process of the bus YSC system. The first contribution is that the STI (Systems Technologies Inc.) tire model, which can effectively reflect the coupling relationship between the tire longitudinal force and lateral force, is established based on experimental data and firstly adopted in the bus YSC system design. The second contribution is a novel YSC strategy based on ANFTSM, which has the merits of fast transient response, finite time convergence and high robustness against uncertainties and external disturbances. The third contribution is that the robust least-squares allocation method is used to solve the optimal allocation problem of the tire forces, whose objective is to achieve the desired direct yaw moment through the effective distribution of the brake force of each tire. To verify the feasibility, effectiveness and practicality of the proposed bus YSC approach, the TruckSim-Simulink co-simulation results are finally provided.

show abstract

Differential Steering Control of Four-Wheel Independent-Drive Electric Vehicles

Cited by 42 publications

References 13 publications

Electronic Steering of the Vehicle Axle with Force Feedback

Electronic Steering of the Vehicle Axle with Force Feedback

An adaptive nonsingular fast terminal sliding mode control for yaw stability control of bus based on STI tire model

An adaptive nonsingular fast terminal sliding mode control for yaw stability control of bus based on STI tire model

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