Optimal Coordinated Control of ARS and DYC for Four-Wheel Steer and In-Wheel Motor Driven Electric Vehicle With Unknown Tire Model

Wang, Qiuwei; Zhao, Youqun; Deng, Yaoji; Han, Xu; Deng, Huifan; Lin, Fanghua

doi:10.1109/tvt.2020.3012962

Cited by 48 publications

(28 citation statements)

References 32 publications

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“…In the meantime, the forgetting factor recursive least-squares (FFRLS) method is utilized to identify the CG of the vehicle. Wang et al [6] designed a new type of particle filter (PF) and applied to Lyapunov stability theory estimating tire lateral forces.…”

Section: Introductionmentioning

confidence: 99%

A Novel Real-Time Center of Gravity Estimation Method for Wheel Loaders with Front/Rear-Axle-Independent Electric Driving

Yang

Wang

Han

2021

Journal of Control Science and Engineering

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Estimation of the center of gravity (CG) is the basis for intelligent control of the front-and-rear-axis-independent electric driving wheel loaders (FREWLs). This paper presents a novel real-time method for estimating the CG of FREWLs, which is suitable for driving and spading conditions on bumpy roads. A FREWL dynamical model is proposed to set up the state-space model. The CG estimator is used to estimate the longitudinal tire force using the state-space model and the improved square-root unscented Kalman filter (ISR-UKF) algorithm. The simulation and experimental results indicate that this method is suitable for FREWL dynamics and operational characteristics, and the estimated value of CG basically converges to the reference value. Finally, the probable reasons for error occurring in two experiments and the practical challenges of this method are discussed. The research in this paper establishes a partial theoretical basis for intelligent control of construction machinery.

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Section: Introductionmentioning

confidence: 99%

A Novel Real-Time Center of Gravity Estimation Method for Wheel Loaders with Front/Rear-Axle-Independent Electric Driving

Yang

Wang

Han

2021

Journal of Control Science and Engineering

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“…e proposed algorithm was compared with the First-Order Siding Mode and the Second-Order Sliding Mode in different scenarios to demonstrate its applicability and robustness. An optimal coordinated control integrating active rear-wheel steering (ARS) and direct yaw moment control (DYC) in the form of active drive torque distribution [21] is proposed to enhance vehicular handling and maneuverability of the 4WS and the in-wheel motor drive. e drive torque distribution method and the rear wheel steer strategy were obtained based on the backstepping and optimization method for minimizing tire load and smooth operations.…”

Section: Introductionmentioning

confidence: 99%

Conflict and Sensitivity Analysis of Vehicular Stability Using a Two‐State Linear Bicycle Model

Hassan

Abdelkareem

Tan

et al. 2021

Shock and Vibration

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Vehicle parameters and operation conditions play a critical role in vehicular handling and stability. This study aimed to evaluate vehicle stability based on cornering tire stiffness integrated with vehicle parameters. A passenger vehicle is considered in which a two-state linear bicycle model is developed in the Matlab/Simulink. The effect of the vehicle parameters on lateral vehicle stability has been investigated and analyzed. The investigated parameters included CG longitudinal position, wheelbase, and tire cornering stiffness. Furthermore, the effects of load variation and vehicle speed were addressed. Based on a Fishhook steering maneuver, the lateral stability criteria represented in lateral acceleration, yaw rate, vehicle sideslip angle, tire sideslip angles, and the lateral tire force were analyzed. The results demonstrated that the parameters that affect the lateral vehicle stability the most are the cornering stiffness coefficient and the CG longitudinal location. The findings also indicated a positive correlation between vehicle properties and lateral handling and stability.

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“…When excessive wheel slip occurs, the sliding mode control technique can be employed to maintain the slip ratio in the optimal region, thereby improving driving stability [18]- [21]. When some of the driving wheels slip, the control of braking or clutch will not only reduce the slip ratio, but also reduce the dynamic performance of the car [22], [23].…”

Section: Introductionmentioning

confidence: 99%

All-Wheel-Drive Torque Distribution Strategy for Electric Vehicle Optimal Efficiency Considering Tire Slip

Cao

Wang

et al. 2021

IEEE Access

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The existing energy management strategies for four-wheel-drive electric vehicles only take into account the vehicle energy consumption under static adhesion constraints. However, the front and rear axle loads transfer under dynamic conditions lead to the variations of vehicle adhesion characteristics, which results in the changes of vehicle energy consumptions. In this paper, a multi-objective optimal torque distribution strategy is proposed, taking into account the front and rear axle load transfer and the variations of adhesion characteristics. The advantages of the proposed strategy are verified through simulation studies in terms of vehicle energy consumption and wheel slip ratio, in comparison with the average torque distribution strategy and the optimal torque distribution strategy based on Sequential Quadratic Programming Algorithm. The simulation results show that the economy performance of the proposed strategy is superior to those of the competing methods. Furthermore, the proposed strategy provides good power performance and eliminates excessive wheel slip, which in turn ensures vehicle longitudinal stability and avoids energy loss resulting from frequent ASR interventions. INDEX TERMS Axle load transfer, optimal efficiency, slip ratio, all-wheel-drive torque distribution, vehicle longitudinal stability.

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Optimal Coordinated Control of ARS and DYC for Four-Wheel Steer and In-Wheel Motor Driven Electric Vehicle With Unknown Tire Model

Cited by 48 publications

References 32 publications

A Novel Real-Time Center of Gravity Estimation Method for Wheel Loaders with Front/Rear-Axle-Independent Electric Driving

A Novel Real-Time Center of Gravity Estimation Method for Wheel Loaders with Front/Rear-Axle-Independent Electric Driving

Conflict and Sensitivity Analysis of Vehicular Stability Using a Two‐State Linear Bicycle Model

All-Wheel-Drive Torque Distribution Strategy for Electric Vehicle Optimal Efficiency Considering Tire Slip

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