An adaptive compound control system for the ESC of electric-wheel vehicle

Abstract

The aim of this study is to achieve the adaptive control for the Electronic Stability Control (ESC) of electric-wheel vehicle. An adaptive compound control system is designed. The system main includes a yaw velocity controller and a side slip angle controller. The yaw velocity controller is robust PID. The side slip angle controller is neural network PID. The PID parameters are adjusted adaptively through robust and neural network. The two controllers constitute the compound controller. Lateral acceleration is used as a limit value and added to the yaw velocity control. A full vehicle model is built to simulate the real electric-wheel vehicle. The ideal values of control parameters are introduced through the ideal vehicle model. Simulation experiments were dong, which included a steering wheel step input experiment and a sine input experiment. The experimental results show that the steady state and the transient performance of the control system are good. The adaptive compound control system is fit for the ESC.