Direct yaw-moment control of in-wheel electric vehicle by sliding mode technique

Abstract

In the paper, a direct yaw-moment control (DYC) strategy is proposed for in-wheel electric vehicles by using second-order sliding mode control technique. The ideal sideslip angle at the center of gravity and yaw rate are first calculated based on a linear two-degree of freedom vehicle model. On this basis, the actual sideslip angle is identified and estimated by constructing a state observer. Then a conventional discontinuous sliding mode DYC controller is first constructed to guarantee that the sideslip angle and yaw rate will approach the ideal ones as closely as possible. To avoid the chattering problem existing in the conventional sliding mode controller, a secondorder sliding mode controller is further designed by taking the derivative of the controller as the new control, which implies that the actual control can be the integration of the second-order sliding mode controller. Simulation results verify the effectiveness of the proposed method.Index Terms-Sliding mode, direct yaw-moment control, inwheel electric vehicle.

Sliding Mode Integrated Control for Vehicle Systems Based on AFS and DYC

“…Choose the Lyapunov function as V(s 2 ) � (1/2)s 2 2 . Differentiating V(s 2 ) along system (26) gives…”

Direct‐yaw‐moment control of four‐wheel‐drive electrical vehicle based on lateral tyre–road forces and sideslip angle observer

“…The paper [14] proposed an energy-efficient control allocation scheme to distribute control efforts for over-actuated systems by explicitly incorporating efficiency functions and working modes of redundant actuators; the study [3] proposed an in-wheel-motor torque distribution method for the electric ground vehicle to show the potentials of optimising the four independently actuated in-wheel motors electric ground vehicle operational energy efficiency; De Novellis et al [4] assessed the performance of alternative objective functions for the optimal wheel torque distribution of a four-wheel-drive fully EV with a newly developed offline optimisation procedure; the research [15] proposed a novel fuzzy sliding mode control (SMC) method to solve destabilisation because of high non-linear characteristics and parameter uncertainty of distributed drive EV when turning or changing lanes at high speeds; the papers [16,17] studied four motors torque distribution problem to improve its energy-saving capacity and efficiency, by constructing an objective function which minimised the vehicle output power to optimise the driving or braking torque. The literatures [18,19] proposed wheel torques vector-control algorithm which reduced the wheel slip rate effectively and improved the stability of the vehicle; Saikia and Mahanta [5] designed two-level controller, the SMC methodology is used in the upper-level control in order to generate the corrective steering wheel angle and yaw moment, the yaw moment is realised through braking between appropriate wheels in the second-level control; Ding et al [6] proposed the direct-yaw-moment control strategies for in-wheel EVs by using SMC and non-linear disturbance observer techniques; the research [7] proposed a motor brakingbased DYC strategy, and this strategy could improve the stability of vehicle; the paper [8] proposed a vehicle dynamics control system to compensate the change in-vehicle handling dynamics of light-weight vehicles due to variation in loading conditions; the study [9] proposed a novel DYC method-emergency control algorithm and adaptive control algorithm based on driver operation intention for stability control of a distributed drive EV; the paper [10] proposed a upper yaw-moment controller and a lower-torque distribution controller based on direct-yaw-moment control; Chen et al [11] studied relationship between the vehicle longitudinal velocity and lateral stability, and proposed a novel DYC system with lighter control effort and better control effect; Zhang et al [12] proposed a DYC strategy for in-wheel EVs by using secondorder SMC technique, and first constructed a conventional discontinuous sliding mode DYC controller to guarantee that the sideslip angle and yaw rate will approach the ideal ones as closely as possible; the literature [13] proposed a new sliding mod...…”

“…At present, the well known vehicle stability control methods mainly include the direct-yaw-moment control, antilock braking system and traction control system, and they have been widely used in the vehicle [1,2]. The literatures [3][4][5][6][7][8][9][10][11][12][13] proposed the control strategies based on the direct-yaw-control (DYC). The yaw rate, sideslip angle, longitudinal and lateral tyre-road forces etc.…”

An integrated control of front in-wheel motors and rear electronic limited slip differential for high-speed cornering performance

“…Over the past two decades, many researches have been conducted to improve the cornering performance with the individual control of IWM and eLSD. [7][8][9][10][11][12][13] There are many researches about IWM control for enhancing the lateral motion. [7][8][9][10][11] The primary approach of these studies is to design and track the references of yaw rate and sideslip angle with sideslip angle estimation.…”

“…[7][8][9][10][11][12][13] There are many researches about IWM control for enhancing the lateral motion. [7][8][9][10][11] The primary approach of these studies is to design and track the references of yaw rate and sideslip angle with sideslip angle estimation. In Kaiser et al, 7 feedback and feedforward controllers are devised to track the references of yaw rate and sideslip angle with a linear quadratic Gaussian control.…”