Improvement of Maneuverability and Stability for Eight wheel Independently Driven Electric Vehicles by Direct Yaw Moment Control

Cai, Lichun; Liao, Zili; Shu-guang, Wei; Li, Jiaqi

doi:10.23919/icems52562.2021.9634298

Cited by 5 publications

(3 citation statements)

References 15 publications

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“…To satisfy the control objectives, a lateral dynamic control algorithm is developed to calculate the reference yaw moment. The DYC approach is adopted, as shown in Figure 3 (Cai et al, 2021). First, the reference yaw rate is calculated based on the motion state of the vehicle using the algorithm outlined in Section 2.…”

Section: Structure Of Dyc Strategymentioning

confidence: 99%

“…4 Simulation verification 4.1 Hardware-in-the-loop simulation platform HIL simulations were performed to validate the effectiveness of the control strategy. The structure of the HIL simulation platform comprises a driver control system, controller system, motor drive system, and dynamic vehicle simulation system, as shown in Figure 4 (Cai et al, 2021;Toropov et al, 2023).…”

Section: Design Of the Stsm Controllermentioning

confidence: 99%

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

Liao,

Cai,

et al. 2024

Front. Mech. Eng.

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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.

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Section: Structure Of Dyc Strategymentioning

confidence: 99%

Section: Design Of the Stsm Controllermentioning

confidence: 99%

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

Liao,

Cai,

et al. 2024

Front. Mech. Eng.

Self Cite

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“…Traditional PID control, as one of the classical control theories, was first applied to stability control. L. Cai et al used fuzzy PID to design the upper controller for tracking the vehicle's traverse angular velocity [16]. However, as a linear controller, PID control cannot adapt to complex and variable nonlinear operating conditions [17].…”

Section: Introductionmentioning

confidence: 99%

Research on Yaw Stability Control of Front-Wheel Dual-Motor-Driven Driverless Formula Racing Car

Liu,

Li,

Bai

et al. 2024

WEVJ

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In order to improve the yaw stability of a front-wheel dual-motor-driven driverless vehicle, a yaw stability control strategy is proposed for a front-wheel dual-motor-driven formula student driverless racing car. A hierarchical control structure is adopted to design the upper torque distributor based on the integral sliding mode theory, which establishes a linear two-degree-of-freedom model of the racing car to calculate the expected yaw angular velocity and the expected side slip angle and calculates the additional yaw moments of the two front wheels. The lower layer is the torque distributor, which optimally distributes the additional moments to the motors of the two front wheels based on torque optimization objectives and torque distribution rules. Two typical test conditions were selected to carry out simulation experiments. The results show that the driverless formula racing car can track the expected yaw angular velocity and the expected side slip angle better after adding the yaw stability controller designed in this paper, effectively improving driving stability.

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A Review Paper of Electric Vehicle Stability Control

2023

2023 3rd International Conference on Electrical, Computer, Communications and Mechatronics Engineering (ICECCME)

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Improvement of Maneuverability and Stability for Eight wheel Independently Driven Electric Vehicles by Direct Yaw Moment Control

Cited by 5 publications

References 15 publications

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

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

Research on Yaw Stability Control of Front-Wheel Dual-Motor-Driven Driverless Formula Racing Car

A Review Paper of Electric Vehicle Stability Control

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