Abstract
Direct yaw-moment control systems have been proven effective in enhancing vehicle stability and handling. The existing direct yaw-moment control designs commonly involve computation of tire side-slip angles, which is susceptible to measurement and estimation errors. The fixed control gain of the conventional sliding mode direct yaw-moment control design cannot adapt to variations and uncertainties in vehicle parameters. As a result, its robustness against parametric variations and uncertainties is limited. To improve the control performance, a novel adaptive sliding mode direct yaw-moment control approach is proposed in this article for electric vehicles with independent motors. The proposed method utilizes a varying control gain to adapt to the variations of front and rear tire side-slip angles. Comparative simulation results show that the proposed scheme outperforms the conventional method with inaccurate tire side-slip angle feedback. With the proposed direct yaw-moment control system on-board, the adverse effects of inaccuracies on tire side-slip angles are suppressed and the vehicle’s robustness against parametric variations and uncertainties is enhanced.
Highlights
The swift development of electric vehicles has significantly facilitated the design and implementation of advanced vehicle chassis control systems
We propose in this article a novel adaptive sliding mode direct yaw-moment control (DYC) approach for electric vehicles
To overcome the above shortcoming, we propose an adaptive sliding mode controller that employs a varying control gain to adapt to the parametric variations and uncertainties
Summary
The swift development of electric vehicles has significantly facilitated the design and implementation of advanced vehicle chassis control systems. It is desirable to devise a controller that automatically adapts to the changes of plant parameters, thereby suppressing the effects of estimation errors and maintaining consistent control performance in the presence of parametric variations/uncertainties To this end, we propose in this article a novel adaptive sliding mode DYC approach for electric vehicles. Equations (33)–(35) imply that unlike the conventional sliding mode controller, the control gain a(ja^f jlf k1 + ja^rjlrk2) is no longer a constant, and it changes with the estimated tire side-slip angles as well as the yaw rate error s. The former one receives measured parameters from onboard sensors as well as estimated vehicle states from two observers, and it calculates the control input DMz as described by equation (42) This corrective yaw moment is converted to the torque difference DT between the two motors according to the following relationship. The effectiveness of the proposed control design, and its superiority to the conventional method in the presence of parameter estimation errors, will be clearly shown in the following results
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