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A Trajectory Tracking Control Strategy of 4WIS/4WID Electric Vehicle with Adaptation of Driving Conditions

State Key Laboratory of Automotive Simulation and control, Jilin University, Changchun 130025, China
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Appl. Sci. 2019, 9(1), 168; https://doi.org/10.3390/app9010168
Received: 8 November 2018 / Revised: 24 December 2018 / Accepted: 27 December 2018 / Published: 4 January 2019
The Four Wheel Independent Steering/Driving (4WIS/4WID) electric vehicle has the advantage that the rotation angle and driving torque of each wheel can be independently and accurately controlled. In this paper, a trajectory tracking strategy based on the hierarchical control method is designed. In the path tracking layer, the nonlinear state feedback controller is used, and the neural network Proportion Integration Differentiation (NNPID) controller is designed to track the desired path and to obtain the desired yaw rate. By tracking the desired yaw rate and vehicle speed, the terminal sliding mode controller in vehicle dynamics control layer calculates the desired resultant tire force. In the tire force distribution layer, the multiple optimization objectives, including vehicle stability performance objective, energy-saving performance objective, and tire wear energy consumption objectives are determined and the weight coefficient is adaptive to different working conditions based on fuzzy logic theory. Finally, the wheel steering angle and driving torque of each wheel are calculated by the nonlinear three-degree-of-freedom vehicle model. Simulation results show that it realizes the adaptive control of tire force while tracking the desired trajectory, improves the stability and energy saving of the vehicle, and effectively reduces tire wear. View Full-Text
Keywords: four wheel independent steering/driving; trajectory tracking control; hierarchical control structure; adaptation of driving conditions four wheel independent steering/driving; trajectory tracking control; hierarchical control structure; adaptation of driving conditions
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MDPI and ACS Style

Zheng, H.; Yang, S. A Trajectory Tracking Control Strategy of 4WIS/4WID Electric Vehicle with Adaptation of Driving Conditions. Appl. Sci. 2019, 9, 168.

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