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Direct‐yaw‐moment control of four‐wheel‐drive electrical vehicle based on lateral tyre–road forces and sideslip angle observer.

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Title: Direct‐yaw‐moment control of four‐wheel‐drive electrical vehicle based on lateral tyre–road forces and sideslip angle observer.
Authors: Song, Yitong, Shu, Hongyu, Chen, Xianbao, Luo, Shuang
Source: IET Intelligent Transport Systems (Wiley-Blackwell); Feb2019, Vol. 13 Issue 2, p303-312, 10p
Subject Terms: LATERAL loads, SLIDING mode control, KALMAN filtering, ELECTRIC vehicles, ENERGY consumption
Abstract: Considering some technical and economic reasons, it is not easy to directly measure the vehicular moving parameters (such as tyre–road forces and vehicle sideslip angle) in electronic stability programme systems. This study proposes a method to estimate lateral tyre–road forces and vehicle sideslip angle by utilising real‐time measurements, based on the unscented Kalman filter. Direct‐yaw‐moment control can effectively guarantee the stability of vehicle while steering at a high speed. This study proposed a hierarchical control strategy as the solution to the problem of the yaw‐moment distribution. The overloop controller is designed to calculate the desired yaw moment based on the estimated lateral tyre–road forces and sideslip angle, using the sliding mode control. The servo‐loop controller is designed to optimise the torque distribution using weighted‐least‐squares method based on the desired yaw moment obtained from the overloop controller. MATLAB/Simulink with Carsim is applied for the simulation experiment, the results demonstrate the effectiveness of the lateral tyre–road force and sideslip angle observer, and the optimal allocation controller could improve the handling stability and energy efficiency dramatically. [ABSTRACT FROM AUTHOR]
Copyright of IET Intelligent Transport Systems (Wiley-Blackwell) is the property of Wiley-Blackwell and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)
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  Label: Title
  Group: Ti
  Data: Direct‐yaw‐moment control of four‐wheel‐drive electrical vehicle based on lateral tyre–road forces and sideslip angle observer.
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  Label: Authors
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  Data: <searchLink fieldCode="AR" term="%22Song%2C+Yitong%22">Song, Yitong</searchLink><br /><searchLink fieldCode="AR" term="%22Shu%2C+Hongyu%22">Shu, Hongyu</searchLink><br /><searchLink fieldCode="AR" term="%22Chen%2C+Xianbao%22">Chen, Xianbao</searchLink><br /><searchLink fieldCode="AR" term="%22Luo%2C+Shuang%22">Luo, Shuang</searchLink>
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  Label: Source
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  Data: IET Intelligent Transport Systems (Wiley-Blackwell); Feb2019, Vol. 13 Issue 2, p303-312, 10p
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  Data: <searchLink fieldCode="DE" term="%22LATERAL+loads%22">LATERAL loads</searchLink><br /><searchLink fieldCode="DE" term="%22SLIDING+mode+control%22">SLIDING mode control</searchLink><br /><searchLink fieldCode="DE" term="%22KALMAN+filtering%22">KALMAN filtering</searchLink><br /><searchLink fieldCode="DE" term="%22ELECTRIC+vehicles%22">ELECTRIC vehicles</searchLink><br /><searchLink fieldCode="DE" term="%22ENERGY+consumption%22">ENERGY consumption</searchLink>
– Name: Abstract
  Label: Abstract
  Group: Ab
  Data: Considering some technical and economic reasons, it is not easy to directly measure the vehicular moving parameters (such as tyre–road forces and vehicle sideslip angle) in electronic stability programme systems. This study proposes a method to estimate lateral tyre–road forces and vehicle sideslip angle by utilising real‐time measurements, based on the unscented Kalman filter. Direct‐yaw‐moment control can effectively guarantee the stability of vehicle while steering at a high speed. This study proposed a hierarchical control strategy as the solution to the problem of the yaw‐moment distribution. The overloop controller is designed to calculate the desired yaw moment based on the estimated lateral tyre–road forces and sideslip angle, using the sliding mode control. The servo‐loop controller is designed to optimise the torque distribution using weighted‐least‐squares method based on the desired yaw moment obtained from the overloop controller. MATLAB/Simulink with Carsim is applied for the simulation experiment, the results demonstrate the effectiveness of the lateral tyre–road force and sideslip angle observer, and the optimal allocation controller could improve the handling stability and energy efficiency dramatically. [ABSTRACT FROM AUTHOR]
– Name: Abstract
  Label:
  Group: Ab
  Data: <i>Copyright of IET Intelligent Transport Systems (Wiley-Blackwell) is the property of Wiley-Blackwell and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.</i> (Copyright applies to all Abstracts.)
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RecordInfo BibRecord:
  BibEntity:
    Identifiers:
      – Type: doi
        Value: 10.1049/iet-its.2018.5159
    Languages:
      – Code: eng
        Text: English
    PhysicalDescription:
      Pagination:
        PageCount: 10
        StartPage: 303
    Subjects:
      – SubjectFull: LATERAL loads
        Type: general
      – SubjectFull: SLIDING mode control
        Type: general
      – SubjectFull: KALMAN filtering
        Type: general
      – SubjectFull: ELECTRIC vehicles
        Type: general
      – SubjectFull: ENERGY consumption
        Type: general
    Titles:
      – TitleFull: Direct‐yaw‐moment control of four‐wheel‐drive electrical vehicle based on lateral tyre–road forces and sideslip angle observer.
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      – PersonEntity:
          Name:
            NameFull: Song, Yitong
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            NameFull: Shu, Hongyu
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            NameFull: Chen, Xianbao
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            NameFull: Luo, Shuang
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            – D: 01
              M: 02
              Text: Feb2019
              Type: published
              Y: 2019
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              Value: 1751956X
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              Value: 13
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            – TitleFull: IET Intelligent Transport Systems (Wiley-Blackwell)
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