This paper presents a lateral motion stability control method for an electric vehicle (EV) driven by four in-wheel motors subject to time-variable high speeds and uncertain disturbances caused by severe road conditions, siding wind forces, and different tire pressures. In order to tackle the uncertain disturbances, an almost disturbance decoupling method (ADD) using sampled-data output feedback control which is more suitable for computer implementation is proposed based on the domination approach. The proposed controller can attenuate the disturbances' effect on the output to an arbitrary degree of accuracy. Simulation results under different speeds by matlab show the effectiveness of the control method.
Issue Section:
Research Papers
Keywords:
Automotive controls,
Computer control,
Control theory,
Modeling and simulation,
Vehicular dynamics,
Dynamic systems
Topics:
Control equipment,
Design,
Electric vehicles,
Feedback,
Motors,
Simulation,
Stability,
Wheels,
Tires
References
1.
Wang
, J.
, and Longoria
, R. G.
, 2009
, “Coordinated and Reconfigurable Vehicle Dynamics Control
,” IEEE Trans. Control Syst. Technol.
, 17
(3
), pp. 723
–732
.2.
Shuai
, Z.
, Zhang
, H.
, Wang
, J.
, Li
, J.
, and Ouyang
, M.
, 2014
, “Combined AFS and DYC control of Four-Wheel-Independent-Drive Electric Vehicles Over CAN Network With Time-Varying Delays
,” IEEE Trans. Veh. Technol.
, 63
(2), pp. 591–602.3.
Chen
, Y.
, and Wang
, J.
, 2012
, “Design and Evaluation on Electric Differentials for Over-Actuated Electric Ground Vehicles With Four Independent In-Wheel Motors
,” IEEE Trans. Veh. Technol.
, 61
(4
), pp. 1534
–1542
.4.
Meng
, Q.
, Xu
, J.
, and Dongfeng
, W.
, 2013
, “Power System of Electric Vehicle Driven by In-Wheel Motors
,” Trans. Chin. Soc. Agric. Mach.
, 44
(8
), pp. 33
–37
.5.
Chen
, B.-C.
, and Kuo
, C.-C.
, 2014
, “Electronic Stability Control for Electric Vehicle With Four In-Wheel Motors
,” Int. J. Automot. Technol.
, 15
(4
), pp. 573
–580
.6.
Hori
, Y.
, 2004
, “Future Vehicle Driven by Electricity and Control-Research on Four-Wheel-Motored UOT Electric March II
,” IEEE Trans. Ind. Electron.
, 51
(5
), pp. 954
–962
.7.
Nam
, K.
, 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. Veh. Technol.
, 61
(5
), pp. 1972
–1985
.8.
Sakai
, S.-I.
, Sado
, H.
, and Hori
, Y.
, 1999
, “Motion Control in an Electric Vehicle With Four Independently Driven In-Wheel Motors
,” IEEE/ASME Trans. Mechatron.
, 4
(1
), pp. 9
–16
.9.
Li
, F.
, Wang
, J.
, and Liu
, Z.
, 2009
, “Motor Torque Based Vehicle Stability Control for Four-Wheel-Drive Electric Vehicle
,” IEEE Vehicle Power and Propulsion Conference
(VPPC
), Dearborn, MI, Sept. 7–10, pp. 1596
–1601
.10.
Sakai
, S.-I.
, Sado
, H.
, and Hori
, Y.
, 2002
, “Dynamic Driving/Braking Force Distribution in Electric Vehicles With Independently Driven Four Wheels
,” Electr. Eng. Jpn.
, 138
(1
), pp. 79
–89
.11.
Em Irler
, M.
, Kahraman
, K.
, Şentürk
, M.
, Acar
, O.
, Güvenç
, B. A.
, Güvenç
, L.
, and Efend Ioğlu
, B.
, 2015
, “Lateral Stability Control of Fully Electric Vehicles
,” Int. J. Automot. Technol.
, 16
(2
), pp. 317
–328
.12.
Johansen
, T. A.
, and Fossen
, T. I.
, 2013
, “Control Allocation—A Survey
,” Automatica
, 49
(5
), pp. 1087
–1103
.13.
Wang
, J.
, Solis
, J. M.
, and Longoria
, R. G.
, 2007
, “On the Control Allocation for Coordinated Ground Vehicle Dynamics Control Systems
,” American Control Conference
(ACC
), New York, July 9–13, pp. 5724
–5729
.14.
Plumlee
, J. H.
, Bevly
, D. M.
, and Hodel, A. S.
, 2004
, “Control of a Ground Vehicle Using Quadratic Programming Based Control Allocation Techniques
,” American Control Conference
(ACC
), Boston, MA, June 30–July 2, Vol. 5
, pp. 4704
–4709
.http://ieeexplore.ieee.org/document/1384055/15.
Weiland
, S.
, and Willems
, J. C.
, 1989
, “Almost Disturbance Decoupling With Internal Stability
,” IEEE Trans. Autom. Control
, 34
(3
), pp. 277
–286
.16.
Lin
, Z.
, Bao
, X.
, and Chen
, B. M.
, 1999
, “Further Results on Almost Disturbance Decoupling With Global Asymptotic Stability for Nonlinear Systems
,” Automatica
, 35
(4
), pp. 709
–717
.17.
Marino
, R.
, Respondek
, W.
, and Van der Schaft
, A.
, 1989
, “Almost Disturbance Decoupling for Single-Input Single-Output Nonlinear Systems
,” IEEE Trans. Autom. Control
, 34
(9
), pp. 1013
–1017
.18.
Lin
, W.
, Qian
, C.
, and Huang
, X.
, 2003
, “Disturbance Attenuation of a Class of Non-Linear Systems Via Output Feedback
,” Int. J. Robust Nonlinear Control
, 13
(13
), pp. 1359
–1369
.19.
Yang
, J.
, Chen
, W.-H.
, and Li
, S.
, 2011
, “Non-Linear Disturbance Observer-Based Robust Control for Systems With Mismatched Disturbances/Uncertainties
,” IET Control Theory Appl.
, 5
(18
), pp. 2053
–2062
.20.
Yang
, J.
, Chen
, W.
, Li
, S.
, and Chen
, X.
, 2013
, “Static Disturbance-to-Output Decoupling for Nonlinear Systems With Arbitrary Disturbance Relative Degree
,” Int. J. Robust Nonlinear Control
, 23
(5
), pp. 562
–577
.21.
Dharani
, S.
, Rakkiyappan
, R.
, and Cao
, J.
, 2015
, “Robust Stochastic Sampled-Data H∞ Control for a Class of Mechanical Systems With Uncertainties
,” ASME J. Dyn. Syst., Meas., Control
, 137
(10
), p. 101008
.22.
Lei
, J.
, 2013
, “Optimal Vibration Control for Uncertain Nonlinear Sampled-Data Systems With Actuator and Sensor Delays: Application to a Vehicle Suspension
,” ASME J. Dyn. Syst., Meas., Control
, 135
(2
), p. 021021
.23.
Kim
, D. W.
, and Lee
, H. J.
, 2012
, “Sampled-Data Observer-Based Output-Feedback Fuzzy Stabilization of Nonlinear Systems: Exact Discrete-Time Design Approach
,” Fuzzy Sets Syst.
, 201
, pp. 20
–39
.24.
Lam
, H.
, 2011
, “Output-Feedback Sampled-Data Polynomial Controller for Nonlinear Systems
,” Automatica
, 47
(11
), pp. 2457
–2461
.25.
Qian
, C.
, and Du
, H.
, 2012
, “Global Output Feedback Stabilization of a Class of Nonlinear Systems Via Linear Sampled-Data Control
,” IEEE Trans. Autom. Control
, 57
(11
), pp. 2934
–2939
.26.
Zhao
, H.
, Gao
, B.
, Ren
, B.
, and Chen
, H.
, 2015
, “Integrated Control of In-Wheel Motor Electric Vehicles Using a Triple-Step Nonlinear Method
,” J. Franklin Inst.
, 352
(2
), pp. 519
–540
.27.
Wang
, R.
, Zhang
, H.
, and Wang
, J.
, 2015
, “Robust Lateral Motion Control of Four-Wheel Independently Actuated Electric Vehicles With Tire Force Saturation Consideration
,” J. Franklin Inst.
, 352
(2
), pp. 645
–668
.28.
Du
, H.
, Qian
, C.
, He
, Y.
, and Cheng
, Y.
, 2013
, “Global Sampled-Data Output Feedback Stabilisation of a Class of Upper-Triangular Systems With Input Delay
,” IET Control Theory Appl.
, 7
(10), pp. 1437–1446.29.
Chu
, H.
, Qian
, C.
, Yang
, J.
, Xu
, S.
, and Liu
, Y.
, 2016
, “Almost Disturbance Decoupling for a Class of Nonlinear Systems Via Sampled-Data Output Feedback Control
,” Int. J. Robust Nonlinear Control
, 26
(10), pp. 2201–2215.Copyright © 2018 by ASME
You do not currently have access to this content.
