Abstract
An electronic stability control (ESC) based on torque distribution is proposed for an eight in-wheel motor-independent drive electric vehicle (8WIDEV). The proposed ESC is extremely suitable for the independent driving vehicle to enhance its handling stability performance. The vehicle model is established based on a prototype 8WIDEV. A hierarchical control strategy, which includes a reference state generation controller, an upper-level vehicle controller, and a lower-level optimal control allocation controller, is utilized in the ESC. The reference state generation controller is used to obtain the ideal reference vehicle state. The upper-level vehicle controller is structured based on sliding mode control, which obtains the generalized objective force during 8WIDEV movement, therein considering the side slip angle and yaw rate. The lower-level optimal control allocation controller attempts to allocate the vehicle’s objective force in each motor optimally and reasonably. The model is validated by field measurement results under the step input condition and snake input condition. Simulation results from a hardware-in-the-loop (HIL) simulation platform indicate that the ESC based on the optimized allocation proposed for 8WIDEV achieves better stability performance compared with direct yaw moment control (DYC).
Highlights
There are three commonly used control structures for the dynamic control of a vehicle driven by inwheel motors: decentralized, centralized, and hierarchical control structures
A new control method is proposed based on model predictive control (MPC) theory to address the issues of multiple objectives with constraints, which can maximize the regeneration efficiency while maintaining the vehicle dynamics [22]. ese methods focus on the vehicle torque allocation but do not optimize the vehicle handling stability for vehicle motion control
The relationship between the side slip angle and yaw moment represents an “un-matching system,” which can be expressed as that the side slip angle being tracked to an ideal stare quantity by controlling the yaw rate as an intermediate variable; the actual yaw rate is not sufficient to track its reference value [25]. e required lateral force can be calculated via steering angle control, and the expected yaw moment is obtained by fully utilizing the yaw rate. is integrated control method can be used by active steering vehicles [26]. e control configuration vehicle principle is structured to improve the flexibility and performance of the structure layout
Summary
Comparing with the widely used model following control, the stability of the vehicle is improved [3, 8, 16]. The two variables are controlled simultaneously sometimes and the target yaw moment and lateral force are obtained, the motor output torque readily becomes saturated for a vehicle without active steering [10, 23]. ESC based on a hierarchical control strategy is established to enhance the performance of the handling stability and trajectory capability of 8WIDEV. A vehicle control strategy for the 8WIDEV based on a hierarchical structure is proposed, whereby the ESC system in the vehicle improves the vehicle handling stability. Analysis of a simulation experiment and a hardware-in-the-loop (HIL) experiment to verify the vehicle dynamic model established in MATLAB/Simulink demonstrates the dynamic characteristics of the 8 × 8 prototype vehicle and verifies the effectiveness of the control strategy proposed in this paper to improve the vehicle handling stability and good trajectory tracking ability.
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