Abstract
The handing and stability of the distributed electric drive vehicle are studied. The controller with hierarchical structure is developed based on model following control theory. The controller contains reference model, motion tracking controller, control allocator and parameter estimation. Vehicle model of two degree of freedom with the vehicle side slip angle limitation is used as reference model. The nonlinear motion-tracking controller with sliding mode control principle is designed. Control allocation is introduced to the over-actuated system. Quadratic programming method with active set solving is designed. The kinetic parameter estimation module is studied. The controller is tested under a real vehicle platform, the results of double lane changed experiment and slalom experiment show: the sliding mode controller has good convergence; the control allocator can achieve the optimal allocation of four longitudinal tire forces; the vehicle yaw rate could track the reference yaw rate well. Compares to the uncontrolled vehicle, the vehicle under control could have high average speed and high average yaw rate, which increases the vehicle stability under extreme conditions.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
