NDLI: Direct-yaw-moment control of four-wheel-drive electrical vehicle based on lateral tyre

Content Provider	IET Digital Library
Author	Song, Yitong Shu, Hongyu Chen, Xianbao Luo, Shuang
Abstract	Considering some technical and economic reasons, it is not easy to directly measure the vehicular moving parameters (such as tyre–road forces and vehicle sideslip angle) in electronic stability programme systems. This study proposes a method to estimate lateral tyre–road forces and vehicle sideslip angle by utilising real-time measurements, based on the unscented Kalman filter. Direct-yaw-moment control can effectively guarantee the stability of vehicle while steering at a high speed. This study proposed a hierarchical control strategy as the solution to the problem of the yaw-moment distribution. The overloop controller is designed to calculate the desired yaw moment based on the estimated lateral tyre–road forces and sideslip angle, using the sliding mode control. The servo-loop controller is designed to optimise the torque distribution using weighted-least-squares method based on the desired yaw moment obtained from the overloop controller. MATLAB/Simulink with Carsim is applied for the simulation experiment, the results demonstrate the effectiveness of the lateral tyre–road force and sideslip angle observer, and the optimal allocation controller could improve the handling stability and energy efficiency dramatically.
Starting Page	303
Ending Page	312
Page Count	10
ISSN	1751956X
Volume Number	13
e-ISSN	17519578
Issue Number	Issue 2, Feb (2019)
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/iet-its/13/2
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/10.1049/iet-its.2018.5159
Journal	IET Intelligent Transport Systems
Publisher Date	2018-10-03
Access Restriction	Open
Rights Holder	© The Institution of Engineering and Technology
Subject Keyword	Desired Yaw Moment Direct-yaw-moment Control Electric Vehicle Electronic Stability Programme System Estimated Lateral Tyre-road Forces Four-wheel-drive Electrical Vehicle Hierarchical Control Strategy Kalman Filter Lateral Tyre-road Force Multivariable Control System Nonlinear Filter Observers Optimal Allocation Controller Overloop Controller Road Traffic System Control Road Vehicle Servo-loop Controller Sliding Mode Control Stability Stability in Control Theory Steering System Tyres Variable Structure System Vehicle Sideslip Angle Observer Wheels Yaw-moment Distribution
Content Type	Text
Resource Type	Article
Subject	Law Transportation Environmental Science Mechanical Engineering

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