Abstract
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.
Highlights
In recent years, active safety systems have been developed and commercialized aiming at improving vehicle high speed safety and making drivers more aware of the situation around them
A correctional linear quadratic regulator combined the feedback and feed forward control algorithm is introduced by Li et al to deduce the object of the stability yaw moment in order to guarantee the yaw rate and sideslip angle stability
In order to improve the robust performance of vehicle lateral stability especially for high speed condition, a robust controller is designed in this paper, which is insensitive to external and internal disturbances and parameters variations, such as tire stiffness variation when tire forces are in saturation
Summary
Active safety systems have been developed and commercialized aiming at improving vehicle high speed safety and making drivers more aware of the situation around them. A correctional linear quadratic regulator combined the feedback and feed forward control algorithm is introduced by Li et al to deduce the object of the stability yaw moment in order to guarantee the yaw rate and sideslip angle stability Her et al [18] presented an integrated chassis control of the differential braking, the front and rear traction torques, and the active roll moment for optimized tire force coordination to enhance the limit handling performance. In order to improve the robust performance of vehicle lateral stability especially for high speed condition, a robust controller is designed in this paper, which is insensitive to external and internal disturbances and parameters variations, such as tire stiffness variation when tire forces are in saturation. At the end of this paper, the conclusion and future work are given
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