Adaptive Sliding Mode Control for Yaw Stability of Four-Wheel Independent-Drive EV Based on the Phase Plane
Abstract
:1. Introduction
2. Vehicle Dynamic Model
2.1. Reference Model
2.2. Tire Model
3. Establishment of Phase Plane
3.1. Establishment of Phase Plane and Division of Stability Region
3.2. Stable Boundary Equation of Phase Plane
4. Design of Yaw Stability Controller
4.1. Design of ASMC Controller for Yaw Rate
4.2. Design of ASMC Controller for Sideslip Angle
4.3. Stability Analysis of Control System
4.4. Particle Swarm Optimization of Sliding Mode Control Parameters
4.5. Joint Controller
4.6. Drive Torque Distribution
5. Simulation Analysis
5.1. Simulation and Verification of Yaw Moment Controller
5.2. Lane Change Simulation
5.3. Serpentine Test
5.4. Lemniscate Test
6. Conclusions
Author Contributions
Funding
Data Availability Statement
Conflicts of Interest
References
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µ | c | k |
---|---|---|
0.3 | 0.08 | −1.68 |
0.4 | 0.10 | −2.02 |
0.5 | 0.13 | −2.39 |
0.6 | 0.15 | −2.83 |
0.7 | 0.18 | −2.86 |
0.8 | 0.20 | −3.03 |
0.9 | 0.23 | −3.36 |
1.0 | 0.27 | −3.79 |
Controller Parameters | cω | εω |
---|---|---|
Optimization results | 93.2007 | 9.9821 |
Controller Parameters | cβ | εβ |
---|---|---|
Optimization results | 46.1308 | 3.0325 |
Parameter | Unit | Value |
---|---|---|
Vehicle weight | kg | 1530 |
Distance between the front axle and the center of mass | m | 1.2 |
Distance between the front axle and the center of mass | m | 1.4 |
Inertia of vehicle around z-axis | kg m2 | 2500.6 |
Front and rear axle wheel track | m | 1.65 |
Height of vehicle center of mass | m | 0.6 |
Effective radius of wheel | m | 0.33 |
Longitudinal cornering stiffness | N/rad | 40,000 |
Lateral cornering stiffness | N/rad | 50,000 |
Parameter | Value |
---|---|
93.2007 | |
46.1308 | |
9.9821 | |
3.0325 | |
0.43 | |
12 |
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Share and Cite
Zhou, Z.; Zhang, J.; Yin, X. Adaptive Sliding Mode Control for Yaw Stability of Four-Wheel Independent-Drive EV Based on the Phase Plane. World Electr. Veh. J. 2023, 14, 116. https://doi.org/10.3390/wevj14050116
Zhou Z, Zhang J, Yin X. Adaptive Sliding Mode Control for Yaw Stability of Four-Wheel Independent-Drive EV Based on the Phase Plane. World Electric Vehicle Journal. 2023; 14(5):116. https://doi.org/10.3390/wevj14050116
Chicago/Turabian StyleZhou, Zhigang, Jie Zhang, and Xiaofei Yin. 2023. "Adaptive Sliding Mode Control for Yaw Stability of Four-Wheel Independent-Drive EV Based on the Phase Plane" World Electric Vehicle Journal 14, no. 5: 116. https://doi.org/10.3390/wevj14050116