Affiliation:
1. College of Energy and Power Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China
Abstract
In order to improve the lateral stability of in-wheel motors electric vehicles (IMEV) equipped with mechanical elastic electric wheels (MEEW) under extreme conditions, this paper proposes an integral sliding mode control (ISMC) algorithm based on the coordination of active front steering (AFS) and direct yaw moment control (DYC) considering the roll effects and the uncertainty of tire cornering stiffness. Firstly, the AFS control algorithm based on adaptive integral terminal sliding mode is proposed, which uses radial-basis-function neural network (RBFNN) to adaptively approximate the integrated nonlinear unknown disturbance. Secondly, considering the roll effects and uncertain cornering stiffness, a mismatched uncertain system for integrated control of AFS and DYC is established. An integral sliding mode control algorithm based on linear matrix inequality (LMI) is designed, and the asymptotic stability of sliding mode dynamics is proved. Further, a constraint optimization algorithm is used to distribute the additional yaw moment. Then, a coordinated control strategy based on the elliptical stable region of the phase plane and the rollover index is designed to activate the integrated controller of AFS and DYC at the right time. Finally, the effectiveness of the control algorithm is verified by high-fidelity CarSim-Matlab simulations. The results show that the proposed controller can effectively and robustly ensure the vehicle lateral stability under extreme conditions.
Funder
Postgraduate Research & Practice Innovation Program of NUAA
National Natural Science Foundation of China
National Engineering Laboratory of High Mobility anti-riot vehicle technology
Fundamental Research Funds for the Central Universities
Subject
Mechanical Engineering,Aerospace Engineering