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

Liu, Cong; Xie, Yunfeng; Wang, Gang; Liu, Suqi; Kuang, Bing; Jing, Hui

doi:10.1155/2021/6668091

Cited by 4 publications

(5 citation statements)

References 20 publications

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“…The structure of the differential steering system [26] is shown in Figure 2. The dynamic equation of DSV can be expressed as follows [27]:…”

Section: Dynamics Model Of Dsvmentioning

confidence: 99%

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Longitudinal and Lateral Stability Control Strategies for ACC Systems of Differential Steering Electric Vehicles

Yang,

Tian

2023

Electronics

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To ensure lateral stability during the cruising of a differential steering vehicle (DSV), this paper presents a curving adaptive cruise control (ACC) system coordinated with a differential steering control (DSC) system, which considers both longitudinal cruising capability and lateral stability on curved roads. Firstly, a DSV dynamics model is developed and a control strategy architecture for a curving ACC system is designed. Then, the car-following control strategy for the curving ACC system is designed based on the fuzzy model predictive control (FMPC) algorithm. The strategy aims to improve the economy and balances car following, safety, comfort and economy. Moreover, fuzzy logic rules are designed to update the weight coefficients of the performance indicators in real time. Finally, the lateral stability controller is designed based on the preview algorithm and the sliding mode control (SMC) algorithm. The simulation results show that the lateral stability of the DSV during the curving cruise is realized via the control of the differential drive torque of the two front wheels. The proposed FMPC controller and SMC controller based on the preview control algorithm satisfy the performance in terms of vehicle following and lateral stable driving in the process of cruising.

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“…The structure of the differential steering system [26] is shown in Figure 2. The dynamic equation of DSV can be expressed as follows [27]:…”

Section: Dynamics Model Of Dsvmentioning

confidence: 99%

“…The dynamic equation of DSV [28] can be obtained by combining Equation (2) as follows: The dynamic equation of DSV can be expressed as follows [27]:…”

Section: Dynamics Model Of Dsvmentioning

confidence: 99%

Longitudinal and Lateral Stability Control Strategies for ACC Systems of Differential Steering Electric Vehicles

Yang,

Tian

2023

Electronics

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“…To analyze the entire EV steering steadiness regulation of a FWID-EV, it is first necessary to establish a dynamics pattern of the EV and to analyze the motion of the EV during driving [21]. As there are many influencing factors related to the EV in the driving process, the EV dynamics has non-linear characteristics, so for the sake of analyzing the steering regulation of the EV, the study simplifies the modeling of the power system and steering regulation system of the EV, ignoring the influence of road impact, drive shaft oscillation and torsional vibration, and vertical tire motion; and simplifies the EV suspension shadow.…”

Section: Ev Dynamics Modelingmentioning

confidence: 99%

Swing Steadiness Regulation of Electric Vehicles with Improved Neural Network PID Algorithm

Song

Hong

2022

Processes

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With the intensification of global environmental pollution and the energy crisis, the new energy EV industry is developing rapidly, and FWID-EV is a popular direction for future vehicle development. For the sake of improving the swing regulate steadiness and safety of EV, the study uses a particle swarm algorithm to optimize and improve the BP neural network PID, and designs an EV steering regulator to regulate the transverse swing torque and slip rate of EV to improve the safety and steadiness of EV steering. The research results display that the maximum value of the transverse swing angular velocity of the regulation algorithm is 0.156 rad/s, that the car slip rate is controlled within 0.046, and the steadiness is high, and that the maximum values of the car torque under the double shift line and snake conditions are 100 N-m and 179.4 N-m, respectively, which can effectively avoid the danger caused by steering. This demonstrates that the improved neural network PID regulator can effectively distribute the steering torque of the EV and improve the steering steadiness and safety of the EV while maintaining the driving dynamics. The use of the improved neural network PID algorithm to achieve the steering steadiness regulation of EV is of great significance to improve the safety of new energy EV, and helps to promote the widespread use of new energy EV.

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“…Researchers use model-in-the-loop experiments in the vast majority of publications [29-44, 46-73, 75-78, 80-86, 88-90, 92-115, 118-141, 143, 145-157, 159-175, 177, 179-181, 183-190, 193-200]. Rare exceptions are publications showing hardware-in-the-loop [74,117,176,182] or even vehicle-inthe-loop experiments [45,79,87,91,116,142,144,158,178,191,192].…”

Section: A Type Of Experimentsmentioning

confidence: 99%

Actuator Fault-Tolerant Vehicle Motion Control: A Survey

Stolte

2021

Preprint

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The advent of automated vehicles operating at SAE levels 4 and 5 poses high fault tolerance demands for all functions contributing to the driving task. At the actuator level, fault-tolerant vehicle motion control, which exploits functional redundancies among the actuators, is one means to achieve the required degree of fault tolerance. Therefore, we give a comprehensive overview of the state of the art in actuator fault-tolerant vehicle motion control with a focus on drive, brake, and steering degradations, as well as tire blowouts. This review shows that actuator fault-tolerant vehicle motion is a widely studied field; yet, the presented approaches differ with respect to many aspects. To provide a starting point for future research, we survey the employed actuator topologies, the tolerated degradations, the presented control approaches, as well as the experiments conducted for validation. Overall, and despite the large number of different approaches, the covered literature reveals the potential of increasing fault tolerance by fault-tolerant vehicle motion control. Thus, besides developing novel approaches or demonstrating real-time applicability, future research should aim at investigating limitations and enabling comparison of fault-tolerant motion control approaches in order to allow for a thorough safety argumentation.

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

Cited by 4 publications

References 20 publications

Longitudinal and Lateral Stability Control Strategies for ACC Systems of Differential Steering Electric Vehicles

Longitudinal and Lateral Stability Control Strategies for ACC Systems of Differential Steering Electric Vehicles

Swing Steadiness Regulation of Electric Vehicles with Improved Neural Network PID Algorithm

Actuator Fault-Tolerant Vehicle Motion Control: A Survey

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