Advertisement

International Journal of Automotive Technology

, Volume 19, Issue 6, pp 1071–1080 | Cite as

Disturbance Observer-Based Sideslip Angle Control for Improving Cornering Characteristics of In-Wheel Motor Electric Vehicles

  • Hee Seong Kim
  • Young Jin Hyun
  • Kang Hyun NamEmail author
Article
  • 23 Downloads

Abstract

In this paper, a robust sideslip angle controller based on the direct yaw moment control (DYC) is proposed for in-wheel motor electric vehicles. Many studies have demonstrated that the DYC is one of the effective methods to improve vehicle maneuverability and stability. Previous approaches to achieve the DYC used differential braking and active steering system. Not only that, the conventional control systems were commonly dependent on the feedback of the yaw rate. In contrast to the traditional control schemes, however, this paper proposes a novel approach based on sideslip angle feedback without controlling the yaw rate. This is mainly because if the vehicle sideslip angle is controlled properly, the intended sideslip angle helps the vehicle to pass through the corner even at high speed. On the other hand, the vehicle may become unstable because of the too large sideslip caused by unexpected yaw disturbances and model uncertainties of time-varying parameters. From this aspect, disturbance observer (DOB) is employed to assure robust performance of the controller. The proposed controller was realized in CarSim model described actual electric vehicle and verified through computer simulations.

Key Words

Direct yaw moment control Electric vehicle Vehicle sideslip angle Robust control Yaw motion control Disturbance observer 

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. Abe, M. (2009). Vehicle Handling Dynamics: Theory and Application. 1st edn. Elsevier. The Netherlands.Google Scholar
  2. Chen, B.-C. and Hsieh, F.-C. (2008). Sideslip angle estimation using extended Kalman filter. Vehicle System Dynamics: Int. J. Vehicle Mechanics and Mobility 46, Supplement 1, 353–364.CrossRefGoogle Scholar
  3. Ding, S., Liu, L. and Zheng, W. X. (2017). Sliding mode direct yaw-moment control design for in-wheel electric vehicles. IEEE Trans. Industrial Electronics 64, 8, 6752–6762.CrossRefGoogle Scholar
  4. Fujimoto, H., Tsumasaka, A. and Noguchi, T. (2005). Direct yaw-moment control of electric vehicle based on cornering stiffness estimation. Proc. IEEE 31st Annual Conf. Industrial Electronics Society, Raleigh, North Carolina, USA.Google Scholar
  5. Guvenc, B. A., Bunte, T., Odenthal, D. and Guvenc, L. (2004). Robust two degree-of-freedom vehicle steering controller design. IEEE Trans. Control Systems Technology 12, 4, 627–636.CrossRefGoogle Scholar
  6. Guvenc, B. A., Guvenc, L. and Karaman, S. (2009). Robust yaw stability controller design and hardware-in-the-loop testing for a road vehicle. IEEE Trans. Vehicular Technology 58, 2, 555–571.CrossRefGoogle Scholar
  7. Hori, Y. (2004). Future vehicle driven by electricity and Control-research on four-wheel-motored “UOT electric march II”. IEEE Trans. Industrial Electronics 50, 5, 954–962.MathSciNetCrossRefGoogle Scholar
  8. Hu, J. S., Wang, Y., Fujimoto, H. and Hori, Y. (2017). Robust yaw stability control for in-wheel motor electric vehicles. IEEE/ASME Trans. Mechatronics 22, 3, 1360–1370.CrossRefGoogle Scholar
  9. Huang, X., Zhang, H., Zhang, G. and Wang, J. (2014). Robust weighted gain-scheduling H∞ vehicle lateral motion control with considerations of steering system backlash-type hysteresis. IEEE Trans. Control Systems Technology 22, 5, 1740–1753.CrossRefGoogle Scholar
  10. Kempf, C. J. and Kobayashi, S. (1999). Disturbance observer and feedforward design for a high-speed directdrive positioning table. IEEE Trans. Control Systems Technology 7, 5, 513–526.CrossRefGoogle Scholar
  11. Kim, J. M., Park, C. M., Hwang, S. H., Hori, Y. and Kim, H. S. (2010). Control algorithm for an independent motor-drive vehicle. IEEE Trans. Vehicular Technology 59, 7, 3213–3222.CrossRefGoogle Scholar
  12. Nam, K. H., Fujimoto, H. and Hori, Y. (2012). Lateral stability control of in-wheel-motor-driven electric vehicles based on sideslip angle estimation using lateral tire force sensors. IEEE Trans. Vehicular Technology 61, 5, 1972–1985.CrossRefGoogle Scholar
  13. Nam, K. H., Fujimoto, H. and Hori, Y. (2014). Advanced motion control of electric vehicles based on robust lateral tire force control via active front steering. IEEE/ASME Trans. Mechatronics 19, 1, 289–299.CrossRefGoogle Scholar
  14. Nam, K. H., Kim, Y. H., Oh, S. H. and Hori, Y. (2010). Steering Angle-Disturbance Observer (SA-DOB) based yaw stability control for electric vehicles with in-wheel motors. Proc. Int. Conf. Control Automation and Systems (ICCAS), 1303−1307.Google Scholar
  15. Nam, K. H., Oh, S. H., Fujimoto, H. and Hori, Y. (2013). Estimation of sideslip and roll angles of electric vehicles using lateral tire force sensors through RLS and kalman filter approaches. IEEE Trans. Industrial Electronics 60, 3, 988–1000.CrossRefGoogle Scholar
  16. Novellis, L. D., Sorinotti, A., Gruber, P. and Pennycott, A. (2014). Comparison of feedback control techniques for torque-vectoring control of fully electric vehicles. IEEE Trans. Vehicular Technology 63, 8, 3612–3623.CrossRefGoogle Scholar
  17. Piyabongkarn, D., Rajamani, R., Grogg, J. A. and Lew, J. Y. (2009). Development and experimental evaluation of a slip angle estimator for vehicle stability control. IEEE Trans. Control Systems Technology 17, 1, 78–88.CrossRefGoogle Scholar
  18. Sakai, S., Sado, H. and Hori, Y. (1999). Motion control in an electric vehicle with four independently driven inwheel motors. IEEE/ASME Trans. Mechatronics 4, 1, 9–16.CrossRefGoogle Scholar
  19. Wang, J. and Longoria, R. G. (2009). Coordinated and reconfigurable vehicle dynamics control. IEEE Trans. Control Systems Technology 17, 3, 723–732.CrossRefGoogle Scholar
  20. Wang, R. and Wang, J. (2011). Fault-tolerant control with active fault diagnosis for four-wheel independently driven electric ground vehicles. IEEE Trans. Vehicular Technology 60, 9, 4276–4287.CrossRefGoogle Scholar
  21. Wang, Y., Nguyen, B. M., Fujimoto, H. and Hori, Y. (2014). Multirate estimation and control of body slip angle for electric vehicles based on onboard vision system. IEEE Trans. Control Industrial Electronics 61, 2, 1133–1143.CrossRefGoogle Scholar
  22. Xiang, W., Richardson, P. C., Zhao, C. and Mohammad, S. (2008). Automobile brake-by-wire control systems design and analysis. IEEE Trans. Vehicular Technology 57, 1, 138–145.CrossRefGoogle Scholar
  23. Yin, D. J., Oh, S. H. and Hori, Y. (2009). A novel traction control for EV based on maximum transmissible torque estimation. IEEE Trans. Industrial Electronics 56, 6, 2086–2094.CrossRefGoogle Scholar
  24. Yin, G., Wang, R. and Wang, J. (2015). Robust control for four wheel independently-actuated electric ground vehicles by external yaw-moment generation. Int. J. Automotive Technology 16, 5, 839–847.CrossRefGoogle Scholar

Copyright information

© The Korean Society of Automotive Engineers and Springer-Verlag GmbH Germany, part of Springer Nature 2018

Authors and Affiliations

  • Hee Seong Kim
    • 1
  • Young Jin Hyun
    • 2
    • 3
  • Kang Hyun Nam
    • 1
    Email author
  1. 1.School of Mechanical EngineeringYeungnam UniversityGyeongbukKorea
  2. 2.High Performance Vehicle Development Team 1Hyundai Motor CompanyGyeonggiKorea
  3. 3.School of Mechanical and Aerospace EngineeringSeoul National UniversitySeoulKorea

Personalised recommendations