Analysis and Roll Prevention Control for Distributed Drive Electric Vehicles
Abstract
:1. Introduction
2. Generating Mechanism of the Rolling Moment of DDEV
2.1. Rolling Moment of DDEV
2.2. Analysis of the Rolling Effect for the Additional Vertical Force of DDEV
3. Roll Stability Control Algorithm
3.1. Yaw and Roll Decoupling Control Algorithm
3.1.1. Yaw Stability Control
3.1.2. Roll Stability Control
3.1.3. Torque Distribution Strategy for Decoupling Control
3.2. Anti-Rollover Control Algorithm Based on Differential Brake
3.2.1. Evaluation Index of Vehicle Rollover
3.2.2. Fuzzy Control Algorithm
3.2.3. Distribution Strategy of Yaw Moment
4. Simulation and Verification
4.1. Vehicle Model
4.2. Simulation Verification of Yaw and Roll Decoupling Control Algorithm
4.2.1. Angular Step Input Condition
4.2.2. Sine Input Condition
4.2.3. Fish Hook Test Condition
4.3. Simulation Verification of Anti-Rollover Control Algorithm
4.3.1. J-Turn Condition
4.3.2. Fish Hook Test Condition
5. Conclusions
Author Contributions
Funding
Data Availability Statement
Conflicts of Interest
Nomenclature
Symbol | |
Iₓ (kg·m2) (deg) | rotational inertia of the vehicle around the x axis vehicle roll angle |
ms (kg) | vehicle sprung mass |
hs (m) | distance from the center of the sprung mass to the roll center of the car |
b (m) | distance from center of mass to rear axle |
a (m) | distance from center of mass to front axle |
m (kg) | vehicle mass |
vy (km/h) | vehicle lateral speed |
vx (km/h) | vehicle longitudinal speed |
ay (m/s2) | vehicle lateral acceleration |
ω (rad/s) | angular velocity of the wheel |
kr, kf (N/rad) | cornering stiffness of the rear and front wheel |
L (m) | vehicle wheelbase |
r (m) | wheel rolling radius |
B (m) | track width |
(deg) | front wheel angle |
K | stability factor |
gy (m/s2) | gravitational acceleration |
Fyf, Fyr (N) | side force of vehicle front and rear wheels |
Kϕ (N/rad) | equivalent roll stiffness of the car |
Cϕ (N/(km/h)) | equivalent roll damping of automobile |
ΔMX (N·m) | additional roll moment. |
Fx1 (N) | ground driving force |
T1 (N·m) | motor torque transmitted from the front wheel to the vehicle body via the suspension |
PLi (i = 1, 2, 3, 4) (N) | force exerted by the left body on the front suspensions |
PLi (i = 1, 2, 3, 4) (N) | force exerted by the front suspensions on the left body |
Pij (j = 1, 2) (N) | force exerted by the car body on the side of the front-inner suspension |
Pij (j = 1, 2) (N) | force exerted by the front-inner suspension on the car body |
Poi′ (j = 1, 2) (N) | force exerted by the front-outer suspension on the car body |
Ki (i = 1, 2, 3, 4, 5, 6) | the corresponding coefficient of the roll moment |
zi (i = 1, 2, 3, 4) (m) zij (j = 1, 2) (m) lout, lin (m) | the corresponding distance |
θi (i = 1, 2, 3, 4) (rad) θij (j = 1, 2) (rad) θoi (i = 1, 2) (rad) | the corresponding angle |
MXj (j = 1, 2, 3, 4) (N·m) | roll moment generated by the suspension to the vehicle body |
MXi, MXo (N·m) | roll moment generated by the front wheel via the suspension |
ωr (dge/s) | vehicle yaw rate |
ωrd (dge/s) | ideal yaw rate |
ωrmax (dge/s) | the maximum values of yaw rate |
βd (dge) | ideal side slip angle |
βrmax (dge) | the maximum values of side slip angle |
weight coefficient between the roll angle and roll angular velocity | |
e (dge) | the error of roll angle |
switching gain | |
road adhesion coefficient | |
sat (s) | the saturation function |
ΔFxi (i = 1, 2, 3, 4) (N) | increment of each driving force |
ΔTi (i = 1, 2, 3, 4) | wheels drive torque |
Tmax (N·m) | maximum driving moment of the motor |
Fb (N) | braking force exerted on the front outer wheel |
Iw (kg·m2) | rotating inertia of front outer wheel |
Tb (N·m) | vehicle braking torque. |
Fzi (i = 1, 2, 3, 4) (N) | wheels vertical load |
P | braking pressure |
S | braking efficiency coefficient. |
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Steering Condition | Yaw Velocity | Additional Yaw Moment |
---|---|---|
left understeer | > 0 | > 0 |
left oversteer | > 0 | < 0 |
light understeer | < 0 | < 0 |
light oversteer | < 0 | > 0 |
Wheel | Compensated Roll Moment | Compensated Yaw Moment |
---|---|---|
front left wheel torque | ||
rear left wheel torque | ||
front right wheel torque | ||
rear right wheel torque |
ΔMZ | e | |||||||
---|---|---|---|---|---|---|---|---|
NB | NM | NS | ZO | PS | PM | PB | ||
ec | PB | ZO | ZO | NW | NS | NM | NB | NB |
PS | PM | PS | ZO | NW | NS | NB | NB | |
ZO | PB | PM | PW | ZO | NW | NM | NB | |
NS | PB | PB | PS | PW | ZO | NS | NM | |
NB | PB | PB | PM | PS | PW | ZO | ZO |
Parameters | Value |
---|---|
Vehicle mass sprung mass un-sprung mass | 1380 900 480 |
Distance from center of mass to front axle | 1.05 |
Distance from center of mass to rear axle | 1.57 |
front wheel tread | 1.4 |
rear wheel tread | 1.4 |
height of centroid | 0.6 |
Tire diameter load radius | 0.33 |
tire type | 255/75 R16 |
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Chang, X.; Zhang, H.; Yan, S.; Hu, S.; Meng, Y. Analysis and Roll Prevention Control for Distributed Drive Electric Vehicles. World Electr. Veh. J. 2022, 13, 210. https://doi.org/10.3390/wevj13110210
Chang X, Zhang H, Yan S, Hu S, Meng Y. Analysis and Roll Prevention Control for Distributed Drive Electric Vehicles. World Electric Vehicle Journal. 2022; 13(11):210. https://doi.org/10.3390/wevj13110210
Chicago/Turabian StyleChang, Xiaoyu, Huanhuan Zhang, Shuai Yan, Shengli Hu, and Youming Meng. 2022. "Analysis and Roll Prevention Control for Distributed Drive Electric Vehicles" World Electric Vehicle Journal 13, no. 11: 210. https://doi.org/10.3390/wevj13110210