Abstract
In this paper, a continuous steering stability controller based on an energy-saving torque distribution algorithm is proposed for a four in-wheel-motor independent-drive electric vehicle (4MIDEV) to improve the energy consumption efficiency while maintaining the stability in steering maneuvers. The controller is designed as a hierarchical structure, including the reference model level, the upper-level controller, and the lower-level controller. The upper-level controller adopts the direct yaw moment control (DYC), which is designed to work continuously during the steering maneuver to better ensure steering stability in extreme situations, rather than working only after the vehicle is judged to be unstable. An adaptive two-hierarchy energy-saving torque distribution algorithm is developed in the lower-level controller with the friction ellipse constraint as a basis for judging whether the algorithm needs to be switched, so as to achieve a more stable and energy-efficient steering operation. The proposed stability controller was validated in a co-simulation of CarSim and Matlab/Simulink. The simulation results under different steering maneuvers indicate that the proposed controller, compared with the conventional servo controller and the ordinary continuous controller, can reduce energy consumption up to 23.68% and improve the vehicle steering stability.
Highlights
With the increasing use of electric vehicles (EVs) and the rapid development of motor-integration technology, a four in-wheel-motor independent-drive electric vehicle (4MIDEV) emerged [1,2,3].The 4MIDEV, unlike the traditional centralized-drive vehicles, is driven by four motors integrated into four wheel hubs
In order to solve the above problems, this paper proposes a continuous steering stability controller based on an energy-saving torque distribution algorithm for the 4MIDEV, including a reference model level, an upper-level controller, and a lower-level controller
This paper proposes a continuous steering stability controller based on an energy-saving torque distribution algorithm for a four in-wheel-motor-independent-drive electric vehicle to improve the energy consumption efficiency while maintaining the steering stability
Summary
With the increasing use of electric vehicles (EVs) and the rapid development of motor-integration technology, a four in-wheel-motor independent-drive electric vehicle (4MIDEV) emerged [1,2,3]. Kang et al [19] separately developed a stability judgment controller and a supervisory controller to determine the control mode, in order to control both yaw rate and sideslip angle after judging whether the vehicle tends to be unstable This kind of upper-level controller with stability judgement turns out to improve the steering stability to a certain degree, but may cause instability in extreme conditions because of the delayed control [20]. In order to solve the above problems, this paper proposes a continuous steering stability controller based on an energy-saving torque distribution algorithm for the 4MIDEV, including a reference model level, an upper-level controller, and a lower-level controller. An adaptive two-hierarchy energy-saving torque distribution algorithm is developed in the lower-level controller to realize a multi-objective optimization of energy saving and steering stability. Design of the Steering Stability Controller Based on an Energy-Saving Torque Distribution
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