Abstract
This paper presents a method to design a vehicle stability controller with four-wheel independent braking (4WIB), drive (4WID) and steering (4WIS) for electric vehicles (EVs) adopting in-wheel motor (IWM) system. To improve lateral stability and maneuverability of vehicles, a direct yaw moment control strategy is adopted. A control allocation method is adopted to distribute control yaw moment into tire forces, generated by 4WIB, 4WID and 4WIS. A set of variable weights in the control allocation method is introduced for the application of several actuator combinations. Simulation on a driving simulation tool, CarSim®, shows that the proposed vehicle stability controller is capable of enhancing lateral stability and maneuverability. From the simulation, the effects of actuator combinations on control performance are analyzed.
Highlights
Over the last decade, in-wheel motors (IWMs) have been developed by research groups and the automotive industry [1]
In view of vehicle stability control, IWM has a function of 4-wheel independent braking (4WIB) and drive (4WID), which comprise traction motor with a reduction gear and electro-mechanical brake (EMB) or electronic wedge brake (EWB) [5]
This paper investigates the control allocation with 4WIB, 4WID and 4WIS provided in IWMThis paper investigates the control allocation with 4WIB, 4WID and 4WIS provided in IWM-driven driven Electric vehicles (EVs) for vehicle stability control
Summary
In-wheel motors (IWMs) have been developed by research groups and the automotive industry [1]. There has been little research into control allocation with 4WIB, 4WID and 4WIS in vehicle stability control, it is necessary to coordinate these actuators. This is called the control allocation problem or integrated chassis control [7,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28]. These research works have applied optimization to solve the control control allocation problem with 4WIB, 4WID and 4WIS.
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