This content is not included in
your SAE MOBILUS subscription, or you are not logged in.
Lateral Stability Control Algorithm of Intelligent Electric Vehicle Based on Dynamic Sliding Mode Control
Technical Paper
2016-01-1902
ISSN: 0148-7191, e-ISSN: 2688-3627
Annotation ability available
Sector:
Language:
English
Abstract
A new lateral stability control method, which is based on vehicle sideslip angle and tire cornering stiffness estimation, is proposed to improve the lateral stability of the four-in-wheel-motor-driven electric vehicle (FIWMD-EV) in this paper. Through the lateral tire force information, vehicle sideslip angle can be estimated by the extended kalman filter (EKF). Using the estimated vehicle sideslip angle, tire cornering stiffness can be also estimated by forgetting factor recursive least squares (FFRLS). Furthermore, combining with the vehicle dynamics model, an adaptive control target model is proposed with the information on vehicle sideslip angle and tire cornering stiffness. The new lateral stability control system uses the direct yaw moment control (DYC) based on dynamic sliding mode is proposed. The performance and effectiveness of the proposed vehicle state estimation and lateral stability control system are verified by CarSim and Simulink cosimulation. Comparing with the traditional PI control algorithm, the robustness of the dynamic sliding mode controller has been demonstrated.
Authors
Topic
Citation
Wang, X., Zhao, Y., Lian, Y., and Tian, Y., "Lateral Stability Control Algorithm of Intelligent Electric Vehicle Based on Dynamic Sliding Mode Control," SAE Technical Paper 2016-01-1902, 2016, https://doi.org/10.4271/2016-01-1902.Also In
References
- Hori , Y. Future vehicle driven by electricity and control-research on four-wheel-motored ‘UOT Electric March II’ IEEE Transactions on Industrial Electronics 51 5 954 962 2004 10.1109/TIE.2004.834944
- Anderson , R. , and Bevly D. M. Estimation of tire cornering stiffness using GPS to improve model based estimation of vehicle states IEEE Intelligent Vehicles Symposium 801 806 2005 10.1109/IVS.2005.1505203
- Nguyen , B. M. , Nam , K. , Fujimoto , H. , and Hori , Y. Proposal of cornering stiffness estimation without vehicle side slip angle using lateral force sensor 2011 IIC 11 140
- Nam , K. , Fujimoto , H. , and Hori , Y. Lateral stability control of in-wheel-motor-driven electric vehicles based on sideslip angle estimation using lateral tire force sensors IEEE Transactions on Vehicular Technology 61 5 1972 1985 2012 10.1109/TVT.2012.2191627
- Lian , Y. , Zhao , Y. , Hu , L. , and Tian , Y. Cornering stiffness and sideslip angle estimation based on simplified lateral dynamic models for four-in-wheel-motor-driven electric vehicles with lateral tire force information International Journal of Automotive Technology 16 4 669 683 2015 10.1007/s12239-015-0068-4
- Doumiati , M. , Victorino , A. C. , Charara , A. , and Lechner , D. Onboard real-time estimation of vehicle lateral tire-road forces and sideslip angle IEEE/ASME Transactions on Mechatronics 16 4 601 614 2011 10.1109/TMECH.2010.2048118
- Wang , Y. , Nguyen , B. M. , Fujimoto , H. , and Hori , Y. Multirate estimation and control of body slip angle for electric vehicles based on onboard vision system IEEE Transactions on Industrial Electronics 61 2 1133 1143 2014 10.1109/TIE.2013.2271596
- Bevly , D. M. , Ryu , J. , and Gerdes , J. C. Integrating INS sensors with GPS measurements for continuous estimation of vehicle sideslip, roll, and tire cornering stiffness IEEE Transactions on Intelligent Transportation Systems 7 4 483 493 2006 10.1109/TITS.2006.883110
- Nguyen , B. M. , Wang , Y. , Fujimoto , H. , and Hori , Y. Lateral Stability Control of Electric Vehicle Based On Disturbance Accommodating Kalman Filter using the Integration of Single Antenna GPS Receiver and Yaw Rate Sensor Journal of Electrical Engineering and Technology 8 4 899 910 2013 10.5370/JEET.2013.8.4.899
- Ono , K. , Takizawa , T. , and Aoki , M. Preload measuring device for double row rolling bearing unit U.S. Patent 12/282,340 March 9 2007
- Nam , K. , Oh , S. , Fujimoto , H. , and Hori , Y. Vehicle state estimation for advanced vehicle motion control using novel lateral tire force sensors IEEE American Control Conference 4853 4858 2011 10.1109/ACC.2011.5990916
- Nam , K. , Oh , S. , Fujimoto , H. , and Hori , Y. Estimation of sideslip and roll angles of electric vehicles using lateral tire force sensors through RLS and Kalman filter approaches IEEE Transactions on Industrial Electronics 60 3 988 1000 2013 10.1109/TIE.2012.2188874
- Kim , J. , Park , C. , Hwang , S. , Hori , Y. et al. Control algorithm for an independent motor-drive vehicle IEEE Transactions on Vehicular Technology 59 7 3213 3222 2010 10.1109/TVT.2010.2053566
- Cong , G. , Mostefai , L. , Denai , M. , and Hori , Y. Direct yaw-moment control of an in-wheel-motored electric vehicle based on body slip angle fuzzy observer IEEE Transactions on Industrial Electronics 56 5 1411 1419 2009 10.1109/TIE.2009.2013737
- Nam , K. , Fujimoto , H. , and Hori Y. Advanced motion control of electric vehicles based on robust lateral tire force control via active front steering IEEE/ASME Transactions on Mechatronics 19 1 289 299 2014 10.1109/TMECH.2012.2233210
- Rajamani , R. , Phanomchoeng , G. , Piyabongkarn , D. , Lew , J.Y. et al. Algorithms for real-time estimation of individual wheel tire-road friction coefficients IEEE/ASME Transactions on Mechatronics 17 6 1183 1195 2012 10.1109/TMECH.2011.2159240
- Sierra , C. , Tseng , E. , Jain , A. , and Peng , H. Cornering stiffness estimation based on vehicle lateral dynamics Vehicle System Dynamics 44 1 24 38 2006
- Kiencke , U. and Nielsen , L. Automotive Control Systems: For Engine, Driveline, and Vehicle, 2 th Edition Springer-Verlag USA 9783540231394 2005