Improvement of Maneuverability and Stability for Eight wheel Independently Driven Electric Vehicles by Direct Yaw Moment Control

This paper proposes a direct yaw moment controller for improving the steering maneuverability and stability of eight wheel independently driven (8WID) electric vehicles. Firstly, a dynamic vehicle model is developed based on the two degree of freedom model. After that, the control strategy is divide...

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Bibliographic Details
Published inInternational Conference on Electrical Machines and Systems (Online) pp. 2482 - 2487
Main Authors Cai, Lichun, Liao, Zili, Wei, Shuguang, Li, Jiaqi
Format Conference Proceeding
LanguageEnglish
Published KIEE & EMECS 31.10.2021
Subjects
anti-slip control
Backstepping
direct yaw moment control
Electric vehicles
Real-time systems
sliding mode control
Stability analysis
steering stability
Torque
Vehicle dynamics
Wheels
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Summary:This paper proposes a direct yaw moment controller for improving the steering maneuverability and stability of eight wheel independently driven (8WID) electric vehicles. Firstly, a dynamic vehicle model is developed based on the two degree of freedom model. After that, the control strategy is divided into upper and lower layer, of which a tracking controller and an anti-slip controller is designed, respectively. The upper controller applies fuzzy PID to track the yaw rate. The lower controller utilizes two sliding mode controllers to realize the anti-slip control, which are designed by considering the backstepping method. Finally, the proposed control strategy is validated through hardware-in-loop real-time simulation.
ISSN:2642-5513
DOI:10.23919/ICEMS52562.2021.9634298