Abstract
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.
| Original language | English |
|---|---|
| Article number | 1934 |
| Pages (from-to) | 1-16 |
| Number of pages | 16 |
| Journal | Electronics (Switzerland) |
| Volume | 9 |
| Issue number | 11 |
| DOIs | |
| State | Published - Nov 2020 |
Keywords
- Four-wheel independent braking (4WIB)
- In-wheel driving system
- Independent steering system
- Vehicle stability control (VSC)
- Weighted pseudo-inverse based control allocation (WPCA)
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