Direct yaw moment control of eight-wheeled distributed drive electric vehicles based on super-twisting sliding mode control

Abstract

This paper proposed a novel direct yaw moment control (DYC) system to enhance vehicle stability and handling performance in various driving conditions and overcome the chattering problem of traditional sliding mode control. Accordingly, a DYC strategy is developed for eight-wheeled DDEVs by utilizing a super-twisting sliding mode (STSM) algorithm. Initially, a three-degrees-of-freedom model, nonlinear tire model, and motor model are established for vehicles. Subsequently, the reference yaw rate is obtained based on the reference model of the vehicle to serve as a control target. The DYC strategy is then established using the error between the actual yaw rate and the reference yaw rate as the input. Moreover, a traditional sliding mode (SM) controller is developed to enhance vehicle stability. A second-order SM controller is designed by incorporating a STSM control algorithm to address the chattering problem associated with traditional SM controllers. The algorithm adaptively adjusts the sliding surface and controls the gains based on the dynamic state of the vehicle. The effectiveness of the proposed control strategy is validated via hardware-in-the-loop simulations.

Direct Yaw Moment Control for Distributed Drive Electric Vehicles Based on Hierarchical Optimization Control Framework

“…As for torque distribution in the lower layer controller, two kinds of control methods are widely used to allocate the torques: (1) non-optimization methods containing axle load ratio allocation and PID; (2) optimization methods comprising quadratic programming (QP) and least squares. Liao et al [24] allocated wheel torque according to the axle load ratio, improving the stability margin of the wheels corresponding to lower axle loads. The adaptability of non-optimization allocation methods is weak, especially on a high curvature or low adhesion road, so optimization methods have attracted more attention.…”