Vehicle Stability Enhancement through Hierarchical Control for a Four-Wheel-Independently-Actuated Electric Vehicle
Abstract
:1. Introduction
2. System Modelling
2.1. Vehicle Planar Motion Model
2.2. Tire Model
2.3. In-Wheel Motor Model
2.4. Driver Model
3. Vehicle Dynamics Stability Control Algorithm
3.1. Reference Model
3.2. Upper Layer Controller
3.2.1. Longitudinal Velocity Controller
3.2.2. Lateral Speed Controller
3.2.3. Yaw Rate Controller
3.3. Lower Layer Controller
3.3.1. Dynamic-Load-Based Control
3.3.2. Optimization-Based Control
4. Simulation and Experimental Results
4.1. Double Lane Change Maneuver with High Frictions
4.2. Double Lane Change Maneuver with Low Friction
4.3. Experimental Results
5. Conclusions
Acknowledgments
Author Contributions
Conflicts of Interest
References
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Variable Parameters | Notation | Value | Unit |
---|---|---|---|
Vehicle mass | m | 1600 | kg |
Moment of inertia around Z axis | Iz | 1975 | kg·m2 |
Distance from center of mass to front axle | a | 1.085 | m |
Distance from center of mass to rear axle | b | 1.386 | m |
Centroid height | H | 0.48 | m |
Wheel-track | B | 1.429 | m |
Wheel effective radius | R | 0.281 | m |
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Wang, Z.; Wang, Y.; Zhang, L.; Liu, M. Vehicle Stability Enhancement through Hierarchical Control for a Four-Wheel-Independently-Actuated Electric Vehicle. Energies 2017, 10, 947. https://doi.org/10.3390/en10070947
Wang Z, Wang Y, Zhang L, Liu M. Vehicle Stability Enhancement through Hierarchical Control for a Four-Wheel-Independently-Actuated Electric Vehicle. Energies. 2017; 10(7):947. https://doi.org/10.3390/en10070947
Chicago/Turabian StyleWang, Zhenpo, Yachao Wang, Lei Zhang, and Mingchun Liu. 2017. "Vehicle Stability Enhancement through Hierarchical Control for a Four-Wheel-Independently-Actuated Electric Vehicle" Energies 10, no. 7: 947. https://doi.org/10.3390/en10070947