A novel adaptive sliding mode control approach for electric vehicle direct yaw-moment control

被引：15

作者：

Fu, Chunyun ^{[1
,2
]}

Hoseinnezhad, Reza ^{[3
]}

Li, Kuining ^{[4
]}

Hu, Minghui ^{[1
,2
]}

机构：

[1] Chongqing Univ, State Key Lab Mech Transmiss, 174 Shazhengjie, Chongqing 400044, Peoples R China

[2] Chongqing Univ, Sch Automot Engn, 174 Shazhengjie, Chongqing 400044, Peoples R China

[3] RMIT Univ, Sch Engn, Melbourne, Vic, Australia

[4] Chongqing Univ, Coll Power Engn, Chongqing, Peoples R China

来源：

ADVANCES IN MECHANICAL ENGINEERING | 2018年 / 10卷 / 10期

基金：

中国国家自然科学基金;

关键词：

Electric vehicles; direct yaw-moment control; sliding mode control; adaptive control; vehicle handling; UNIFIED CHASSIS CONTROL; STABILITY CONTROL; DYNAMICS; STRATEGY; FORCES; ANGLE;

D O I：

10.1177/1687814018803179

中图分类号：

O414.1 [热力学];

学科分类号：

摘要：

Direct yaw-moment control systems have been proven effective in enhancing vehicle stability and handling. The existing direct yaw-moment control designs commonly involve computation of tire side-slip angles, which is susceptible to measurement and estimation errors. The fixed control gain of the conventional sliding mode direct yaw-moment control design cannot adapt to variations and uncertainties in vehicle parameters. As a result, its robustness against parametric variations and uncertainties is limited. To improve the control performance, a novel adaptive sliding mode direct yaw-moment control approach is proposed in this article for electric vehicles with independent motors. The proposed method utilizes a varying control gain to adapt to the variations of front and rear tire side-slip angles. Comparative simulation results show that the proposed scheme outperforms the conventional method with inaccurate tire side-slip angle feedback. With the proposed direct yaw-moment control system on-board, the adverse effects of inaccuracies on tire side-slip angles are suppressed and the vehicle's robustness against parametric variations and uncertainties is enhanced.

引用

页数：12

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