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Energies 2018, 11(11), 2892; https://doi.org/10.3390/en11112892

Differential Steering Control of Four-Wheel Independent-Drive Electric Vehicles

1,* , 1
and
2
1
College of Automobile & Traffic Engineering, Nanjing Forestry University, Nanjing 210037, China
2
College of Automobile & Traffic Engineering, Jiangsu University, Zhengjiang 212013, China
*
Author to whom correspondence should be addressed.
Received: 8 August 2018 / Revised: 21 October 2018 / Accepted: 22 October 2018 / Published: 24 October 2018
(This article belongs to the Special Issue Automation Control and Energy Efficiency in Complex Systems)
Full-Text   |   PDF [2196 KB, uploaded 24 October 2018]   |  

Abstract

This paper investigates the skid steering of four-wheel independent-drive (4WID) electric vehicles (EV) and a differential steering of a 4WID EV with a steer-by-wire (SBW) system in case of steering failure. The dynamic models of skid steering vehicle (SSV) and differential steering vehicle (DSV) are established and the traditional front-wheel steering vehicle with neutral steering characteristics is selected as the reference model. On this basis, sideslip angle observer and two different sliding mode variable structure controllers for SSV and DSV are designed respectively. Co-simulation results of CarSim and Simulink show that the designed controller for DSV not only controls the yaw rate and sideslip angle of DSV to track those of the reference model exactly, but also ensures the robustness of the controlled system compared with the designed controller for SSV. And the differential driving torque needed to realize the differential steering is much smaller than that for skid steering, which indicates the possibility of the differential steering in case of steering failure. View Full-Text
Keywords: four-wheel independent-drive; electric vehicle; skid steering; differential steering; sliding mode variable structure control; robustness four-wheel independent-drive; electric vehicle; skid steering; differential steering; sliding mode variable structure control; robustness
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Tian, J.; Tong, J.; Luo, S. Differential Steering Control of Four-Wheel Independent-Drive Electric Vehicles. Energies 2018, 11, 2892.

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