Abstract
This paper describes a novel differential steering control system for an in-wheel motor electric vehicle with four axles. Basically, the vehicle dynamic model and the differential steering model are established based on the platform of MATLAB/Simulink respectively. A two-degree-of-freedom vehicle model is established to get the referential yaw rate. Next, a double closed loop control system based on the sliding mode structure control is proposed to improve the handing stability. The yaw rate is controlled through a differential torque controller. Meanwhile, a torque compensation controller for non-steering wheel motors is designed to solve the problem of steering power loss. Furthermore, the simulation for validation is performed. The results show that the control system can regulate the vehicle states effectively to enhance the stability. The simulation also indicates that the control strategy can provide a good performance even in complex driving conditions.
| Original language | English |
|---|---|
| Pages (from-to) | 586-592 |
| Number of pages | 7 |
| Journal | Energy Procedia |
| Volume | 152 |
| DOIs | |
| Publication status | Published - 2018 |
| Event | 2018 Applied Energy Symposium and Forum, Carbon Capture, Utilization and Storage, CCUS 2018 - Perth, Australia Duration: 27 Jun 2018 → 29 Jun 2018 |
Keywords
- Differential steering
- Double closed loop
- Electric vehicle
- In-wheel motor
- Sliding mode control
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