Lateral Stability Analysis of 4WID Electric Vehicle Based on Sliding Mode Control and Optimal Distribution Torque Strategy

Abstract

In this paper, we propose a lateral stability control strategy for four-wheel independent drive (4WID) electric vehicles. The control strategy adopts a hierarchical structure. First, a seven-degree-of-freedom (7DOF) 4WID electric vehicle model is established. Then, the upper controller adopts the integral sliding mode control (ISMC) method to obtain the desired yaw moment by controlling both the yaw rate and the sideslip angle. A new sliding mode reaching law (NSMRL) is designed to reduce chattering and make state variables converge faster, and the superiority of NSMRL is verified by theoretical analysis. The lower controller proposes a new optimal allocation algorithm, which selects the tire utilization rate and the standard deviation coefficient of the tire utilization rate as the objective function. The safety performance of vehicle is improved, and the instability caused by the significant difference in the stability margin between the four wheels under extreme road conditions is avoided. Finally, a simulation is carried out to verify the effectiveness of the proposed control strategy under single-lane-change and J-turn maneuvers.

Research on Yaw Stability Control Strategy for Distributed Drive Electric Trucks

“…To ensure vehicle stability, it is crucial to maintain the yaw rate and sideslip angle at ideal levels [ 25 ]. By employing the 2-degree-of-freedom linear models (1) and (2), the yaw rate and the sideslip angle of the vehicle in a steady state at a constant speed can be calculated [ 26 ]. Equation (11) used for steady-state value calculation completely ignores the existence of torque vectors and their abilities to alter the vehicle’s steady-state response.…”

Development and evaluation of 4WSS electric-driven chassis for high-clearance sprayer

“…Nevertheless, an electric chassis is more efficient ( Park et al., 2019 ) and causes less pollution ( Sato et al., 2022 ) than a hydraulic chassis, and its proportion in the vehicle field is gradually increasing ( Park et al., 2023 ). Moreover, the electric chassis has better performance on controllability, particularly the four-wheel independent drive (4WID) structure ( Wang et al., 2022 ). Each wheel’s torque or speed can be controlled independently, giving it strong potential in terms of handling stability and flexibility ( Liang et al., 2020 ; Liu et al., 2021 ).…”

Lateral Control Calibration and Testing in a Co-Simulation Framework for Automated Vehicles

“…However, most of them are used to control longitudinal and lateral dynamics separately. Recently, controlling both longitudinal and lateral dynamics has been applied [4,[19][20][21][22][23]. Nada et al [21] designed a multi-input-multi-output (MIMO) linear MPC with some constraints in the vehicle dynamics, in which the reference path is tracked based on the steering angle and angular velocity.…”

“…However, when applying the SMC technique, the chattering phenomenon often appears when acquiring robustness. To overcome this obstacle, in [23], the authors applied a new sliding mode that reduces chattering and makes state variables converge faster. However, rough road surfaces can lead to compromised path tracking accuracy and overall system stability.…”