A novel direct yaw moment controller for in-wheel motor electric vehicles

被引：121

作者：

Chen, Yuhang ^{[1
]}

Hedrick, J. Karl ^{[1
]}

Guo, Konghui ^{[2
]}

机构：

[1] Univ Calif Berkeley, Dept Mech Engn, Berkeley, CA 94720 USA

[2] Jilin Univ, State Key Lab Automot Simulat & Control, Changchun 130023, Peoples R China

来源：

VEHICLE SYSTEM DYNAMICS | 2013年 / 51卷 / 06期

关键词：

direct yaw moment control; sliding mode control; driver model; tyre model; MANEUVERABILITY; UNITIRE; DESIGN; MOTION; MODEL;

D O I：

10.1080/00423114.2013.773453

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

A novel direct yaw moment controller is developed in this paper. A hierarchical control architecture is adopted in the controller design. In the upper controller, a driver model and a vehicle model are used to obtain the driver's intention and the vehicle states, respectively. The upper controller determines the desired yaw moment by means of sliding mode control. The lower controller distributes differential longitudinal forces according to the desired yaw moment. A nonlinear tyre model, UniTire', is utilised to develop the novel distribution strategy and the control boundary.

引用

页码：925 / 942

页数：18

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