This content is not included in your SAE MOBILUS subscription, or you are not logged in.
Handling Improvement for Distributed Drive Electric Vehicle Based on Motion Tracking Control
ISSN: 0148-7191, e-ISSN: 2688-3627
Published April 03, 2018 by SAE International in United States
This content contains downloadable datasetsAnnotation ability available
The integrated control system which combines the differential drive assisted steering (DDAS) and the direct yaw moment control (DYC) for the distributed drive electric vehicle (DDEV) is studied. A handling improvement algorithm for the normal cornering maneuvers is proposed based on motion tracking control. Considering the ideal assistant power character curves at different velocities, an open-loop DDAS control strategy is developed to respond the driver’s demand of steering wheel torque. The DYC strategy contains the steering angle feedforward and the yaw rate feedback. The steering angle feedforward control strategy is employed to improve yaw rate steady gain of vehicle. The maximum feedforward coefficients at different velocities are obtained from the constraint of the motor external characteristic, final feedforward coefficients are calculated according to the ideal assistant power character curve of the DDAS. Meanwhile, an integral anti-windup PI control is proposed to track reference yaw rate based on linear single track model. In addition, a torque allocation algorithm is proposed to coordinate the driver’s accelerate intention with the additional vehicle yaw moment demand. Simulations and field tests under multiple maneuvers have been carried out. The results indicate that the proposed controller can reduce driver operating burden by decreasing the steering wheel torque while the transient response and the steady gain of the yaw rate are improved. The algorithm can also effectively rectify the under steering caused by accelerating and enhance the handling performance of the DDEV significantly.
CitationYang, X., Xiong, L., Leng, B., and Li, Y., "Handling Improvement for Distributed Drive Electric Vehicle Based on Motion Tracking Control," SAE Technical Paper 2018-01-0564, 2018, https://doi.org/10.4271/2018-01-0564.
Data Sets - Support Documents
|[Unnamed Dataset 1]|
|[Unnamed Dataset 2]|
|[Unnamed Dataset 3]|
|[Unnamed Dataset 4]|
|[Unnamed Dataset 5]|
- Yu, Z., Feng, Y., and Xiong, L., “Review on Vehicle Dynamics Control of Distributed Drive Electric Vehicle,” Chinese Journal of Mechanical Engineering (08):105-114, 2013.
- He, P. and Yoichi, H., “Optimum Traction Force Distribution for Stability Improvement of 4WD EV in Critical Driving Condition,” 9th IEEE International Workshop on Advanced Motion Control, 596-601, 2006, doi:10.1109/AMC.2006.1631727.
- Hu, J., Wang, Y., Fujimoto, H., and Yoichi, H., “Robust Yaw Stability Control for In-Wheel Motor Electric Vehicles,” IEEE/ASME Transactions on Mechatronics 22(3):1360-1370, 2017.
- Xiong, L., Yu, Z., Wang, Y., Yang, C. et al., “Vehicle Dynamics Control of Four In-Wheel Motor Drive Electric Vehicle Using Gain Scheduling Based on Tyre Cornering Stiffness Estimation,” Vehicle System Dynamics. 50(6):831-846, 2012, doi:10.1080/2012.663921.
- Jin, C., Xiong, L., and Yang, P., “A Control Allocation Algorithm for In-Wheel-Motor Driven Vehicles with Coupling Tire Characteristics,” AVEC’12, Seoul, Korea, 2012.
- Mitschke, M. and Wallentowitz, H., “Dynamik der Kraftfahrzeuge,” (Berlin, Springer, 2004).
- Wang, J., Wang, Q., Jin, L., Song, C. et al., “Independent Wheel Torque Control of 4WD Electric Vehicle for Differential Drive Assisted Steering,” Mechatronics 21(1):63-76, 2011.
- Jin, C. and Yu, Z., “Path Following Control for Skid Steering Vehicles with Vehicle Speed Adaption,” Proceedings of SAE World Congress 2014, Detroit, 2014.