A Robust Control Method for Lateral Stability Control of In-Wheel Motored Electric Vehicle Based on Sideslip Angle Observer
In-wheel motored powertrain on electric vehicles has more potential in maneuverability and active safety control. This paper investigates the longitudinal and lateral integrated control through the active front steering and yaw moment control systems considering the saturation characteristics of tir...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2018-01-01
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| Series: | Shock and Vibration |
| Online Access: | http://dx.doi.org/10.1155/2018/8197941 |
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| _version_ | 1832552661809889280 |
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| author | Yaxiong Wang Feng Kang Taipeng Wang Hongbin Ren |
| author_facet | Yaxiong Wang Feng Kang Taipeng Wang Hongbin Ren |
| author_sort | Yaxiong Wang |
| collection | DOAJ |
| description | In-wheel motored powertrain on electric vehicles has more potential in maneuverability and active safety control. This paper investigates the longitudinal and lateral integrated control through the active front steering and yaw moment control systems considering the saturation characteristics of tire forces. To obtain the vehicle sideslip angle of mass center, the virtual lateral tire force sensors are designed based on the unscented Kalman filtering (UKF). And the sideslip angle is estimated by using the dynamics-based approaches. Moreover, based on the estimated vehicle state information, an upper level control system by using robust control theory is proposed to specify a desired yaw moment and correction front steering angle to work on the electric vehicles. The robustness of proposed algorithm is also analyzed. The wheel torques are distributed optimally by the wheel torque distribution control algorithm. Numerical simulation is carried out in Matlab/Simulink-Carsim cosimulation environment to demonstrate the effectiveness of the designed robust control algorithm for lateral stability control of in-wheel motored vehicle. |
| format | Article |
| id | doaj-art-a3cec306f675493eaa6ca2d7f55a4bd7 |
| institution | Kabale University |
| issn | 1070-9622 1875-9203 |
| language | English |
| publishDate | 2018-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Shock and Vibration |
| spelling | doaj-art-a3cec306f675493eaa6ca2d7f55a4bd72025-02-03T05:58:08ZengWileyShock and Vibration1070-96221875-92032018-01-01201810.1155/2018/81979418197941A Robust Control Method for Lateral Stability Control of In-Wheel Motored Electric Vehicle Based on Sideslip Angle ObserverYaxiong Wang0Feng Kang1Taipeng Wang2Hongbin Ren3School of Technology, Beijing Forestry University, 35 Qinghua East Road, Beijing 100083, ChinaSchool of Technology, Beijing Forestry University, 35 Qinghua East Road, Beijing 100083, ChinaSchool of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, ChinaSchool of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, ChinaIn-wheel motored powertrain on electric vehicles has more potential in maneuverability and active safety control. This paper investigates the longitudinal and lateral integrated control through the active front steering and yaw moment control systems considering the saturation characteristics of tire forces. To obtain the vehicle sideslip angle of mass center, the virtual lateral tire force sensors are designed based on the unscented Kalman filtering (UKF). And the sideslip angle is estimated by using the dynamics-based approaches. Moreover, based on the estimated vehicle state information, an upper level control system by using robust control theory is proposed to specify a desired yaw moment and correction front steering angle to work on the electric vehicles. The robustness of proposed algorithm is also analyzed. The wheel torques are distributed optimally by the wheel torque distribution control algorithm. Numerical simulation is carried out in Matlab/Simulink-Carsim cosimulation environment to demonstrate the effectiveness of the designed robust control algorithm for lateral stability control of in-wheel motored vehicle.http://dx.doi.org/10.1155/2018/8197941 |
| spellingShingle | Yaxiong Wang Feng Kang Taipeng Wang Hongbin Ren A Robust Control Method for Lateral Stability Control of In-Wheel Motored Electric Vehicle Based on Sideslip Angle Observer Shock and Vibration |
| title | A Robust Control Method for Lateral Stability Control of In-Wheel Motored Electric Vehicle Based on Sideslip Angle Observer |
| title_full | A Robust Control Method for Lateral Stability Control of In-Wheel Motored Electric Vehicle Based on Sideslip Angle Observer |
| title_fullStr | A Robust Control Method for Lateral Stability Control of In-Wheel Motored Electric Vehicle Based on Sideslip Angle Observer |
| title_full_unstemmed | A Robust Control Method for Lateral Stability Control of In-Wheel Motored Electric Vehicle Based on Sideslip Angle Observer |
| title_short | A Robust Control Method for Lateral Stability Control of In-Wheel Motored Electric Vehicle Based on Sideslip Angle Observer |
| title_sort | robust control method for lateral stability control of in wheel motored electric vehicle based on sideslip angle observer |
| url | http://dx.doi.org/10.1155/2018/8197941 |
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