TY - GEN
T1 - Lateral stability based hybrid controller designed of torque control for distributed wheel-driven electric vehicles
AU - Gao, Xin
AU - Li, Xueyuan
AU - Liu, Qi
AU - Li, Zirui
AU - Wen, Xin
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - This paper designs a nonlinear real-time optimization sliding mode controller (NRO-SMC) focusing on improving stability according to the characteristics of independent and controllable torque of each motor in distributed in-wheel drive electric vehicles. The proposed NRO-SMC adopts hierarchical control, and the sliding mode algorithm is adopted by the high-level controller to decide the additional yaw moment. The sideslip angle and yaw rate are introduced into the sliding mode surface as the input to realize the simultaneous tracking of them; while a torque distribution controller is established for the low-level controller to allocate additional yaw moment to each in-wheel motor through nonlinear optimization. Finally, the co-simulation is carried out and verified under double lane change conditions on the basis of CarSim and MATLAB/Simulink. Results show that the proposed NRO-SMC reduces the sideslip angle of the vehicle to 23.51 % under the premise of ensuring the expected driving trajectory, yaw rate, and lateral acceleration, thereby improving the lateral stability of the vehicle.
AB - This paper designs a nonlinear real-time optimization sliding mode controller (NRO-SMC) focusing on improving stability according to the characteristics of independent and controllable torque of each motor in distributed in-wheel drive electric vehicles. The proposed NRO-SMC adopts hierarchical control, and the sliding mode algorithm is adopted by the high-level controller to decide the additional yaw moment. The sideslip angle and yaw rate are introduced into the sliding mode surface as the input to realize the simultaneous tracking of them; while a torque distribution controller is established for the low-level controller to allocate additional yaw moment to each in-wheel motor through nonlinear optimization. Finally, the co-simulation is carried out and verified under double lane change conditions on the basis of CarSim and MATLAB/Simulink. Results show that the proposed NRO-SMC reduces the sideslip angle of the vehicle to 23.51 % under the premise of ensuring the expected driving trajectory, yaw rate, and lateral acceleration, thereby improving the lateral stability of the vehicle.
KW - Distributed in-wheel drive
KW - lateral stability
KW - nonlinear optimization
KW - sliding mode control
KW - torque distribution
UR - https://www.scopus.com/pages/publications/85149556656
U2 - 10.1109/CCDC55256.2022.10034082
DO - 10.1109/CCDC55256.2022.10034082
M3 - Conference contribution
AN - SCOPUS:85149556656
T3 - Proceedings of the 34th Chinese Control and Decision Conference, CCDC 2022
SP - 3976
EP - 3981
BT - Proceedings of the 34th Chinese Control and Decision Conference, CCDC 2022
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 34th Chinese Control and Decision Conference, CCDC 2022
Y2 - 15 August 2022 through 17 August 2022
ER -