Vehicle Stability Control with Four-Wheel Independent Braking, Drive and Steering on In-Wheel Motor-Driven Electric Vehicles

被引：33

作者：

Nah, Jaewon ^{[1
]}

Yim, Seongjin ^{[2
]}

机构：

[1] Wonkwang Univ, Smart Automot Engn Dept, 460 Iksandae Ro, Iksan Si 54538, Jeollabuk Do, South Korea

[2] Seoul Natl Univ Sci & Technol, Res Ctr Elect & Informat Technol, 232 Gongneung Ro, Seoul 01811, South Korea

来源：

ELECTRONICS | 2020年 / 9卷 / 11期

关键词：

vehicle stability control (VSC); four-wheel independent braking (4WIB); in-wheel driving system; independent steering system; weighted pseudo-inverse based control allocation (WPCA); CONTROL SCHEME; ALLOCATION; FORCES; AFS;

D O I：

10.3390/electronics9111934

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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(R), 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.

引用

页码：1 / 16

页数：16

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