TY - JOUR
T1 - Vehicle stability control with four-wheel independent braking, drive and steering on in-wheel motor-driven electric vehicles
AU - Nah, Jaewon
AU - Yim, Seongjin
N1 - Publisher Copyright:
© 2020 by the authors. Licensee MDPI, Basel, Switzerland.
PY - 2020/11
Y1 - 2020/11
N2 - This paper presents a method to design a vehicle stability controller with four-wheel independent braking (4WIB), drive (4WID) and steering (4WIS) for electric vehicles (EVs) adopting in-wheel motor (IWM) system. To improve lateral stability and maneuverability of vehicles, a direct yaw moment control strategy is adopted. A control allocation method is adopted to distribute control yaw moment into tire forces, generated by 4WIB, 4WID and 4WIS. A set of variable weights in the control allocation method is introduced for the application of several actuator combinations. Simulation on a driving simulation tool, CarSim®, shows that the proposed vehicle stability controller is capable of enhancing lateral stability and maneuverability. From the simulation, the effects of actuator combinations on control performance are analyzed.
AB - This paper presents a method to design a vehicle stability controller with four-wheel independent braking (4WIB), drive (4WID) and steering (4WIS) for electric vehicles (EVs) adopting in-wheel motor (IWM) system. To improve lateral stability and maneuverability of vehicles, a direct yaw moment control strategy is adopted. A control allocation method is adopted to distribute control yaw moment into tire forces, generated by 4WIB, 4WID and 4WIS. A set of variable weights in the control allocation method is introduced for the application of several actuator combinations. Simulation on a driving simulation tool, CarSim®, shows that the proposed vehicle stability controller is capable of enhancing lateral stability and maneuverability. From the simulation, the effects of actuator combinations on control performance are analyzed.
KW - Four-wheel independent braking (4WIB)
KW - In-wheel driving system
KW - Independent steering system
KW - Vehicle stability control (VSC)
KW - Weighted pseudo-inverse based control allocation (WPCA)
UR - https://www.scopus.com/pages/publications/85096195868
U2 - 10.3390/electronics9111934
DO - 10.3390/electronics9111934
M3 - Article
AN - SCOPUS:85096195868
SN - 2079-9292
VL - 9
SP - 1
EP - 16
JO - Electronics (Switzerland)
JF - Electronics (Switzerland)
IS - 11
M1 - 1934
ER -