NFTSM control of direct yaw moment for autonomous electric vehicles with consideration of tire nonlinear mechanical properties

• Autorzy: Sun Xiaoqiang , Wang Yujun , Cai Yingfeng , Wong Pak Kin , Chen Long

Identyfikatory

DOI

10.24425/bpasts.2021.137065

• Języki publikacji: EN

Abstrakty

EN

To improve the curve driving stability and safety under critical maneuvers for four-wheel-independent drive autonomous electric vehicles, a three-stage direct yaw moment control (DYC) strategy design procedure is proposed in this work. The first stage conducts the modeling of the tire nonlinear mechanical properties, i.e. the coupling relationship between the tire longitudinal force and the tire lateral force, which is crucial for the DYC strategy design, in the STI (Systems Technologies Inc.) form based on experimental data. On this basis, a 7-DOF vehicle dynamics model is established and the direct yaw moment calculation problem of the four-wheel-independent drive autonomous electric vehicle is solved through the nonsingular fast terminal sliding mode (NFTSM) control method, thus the optimal direct yaw moment can be obtained. To achieve this direct yaw moment, an optimal allocation problem of the tire forces is further solved by using the trust-region interior-point method, which can effectively guarantee the solving efficiency of complex optimization problem like the tire driving and braking forces allocation of four wheels in this work. Finally, the effectiveness of the DYC strategy proposed for the autonomous electric vehicles is verified through the CarSim-Simulink co-simulation results.

Słowa kluczowe

EN

autonomous electric vehicles; direct yaw moment control; DYC; tire nonlinear mechanical properties; nonsingular fast terminal sliding mode; NFTSM; trust-region interior-point method

PL

pojazd elektryczny autonomiczny; kontrola momentu odchylenia bezpośrednia; właściwości mechaniczne opon nieliniowe; niesingularny tryb szybkiego przesuwania terminala; metoda punktu wewnętrznego regionu zaufania

• Wydawca: Polska Akademia Nauk, Wydział IV Nauk Technicznych
• Czasopismo: Bulletin of the Polish Academy of Sciences. Technical Sciences
• Rocznik: 2021
• Tom: Vol. 69, nr 3
• Strony: art. no. e137065
• Opis fizyczny: Bibliogr. 56 poz., rys., tab.

Twórcy

autor

Sun Xiaoqiang

• Automotive Engineering Research Institute, Jiangsu University, Zhenjiang Jiangsu, China
• State Key Laboratory of Automotive Safety and Energy, Tsinghua University, Beijing, China

autor

Wang Yujun

• Automotive Engineering Research Institute, Jiangsu University, Zhenjiang Jiangsu, China

autor

Cai Yingfeng

• Automotive Engineering Research Institute, Jiangsu University, Zhenjiang Jiangsu, China

autor

Wong Pak Kin

• Department of Electromechanical Engineering, University of Macau, Taipa, Macau

autor

Chen Long

• State Key Laboratory of Automotive Safety and Energy, Tsinghua University, Beijing, China

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Uwagi

Opracowanie rekordu ze środków MNiSW, umowa Nr 461252 w ramach programu "Społeczna odpowiedzialność nauki" - moduł: Popularyzacja nauki i promocja sportu (2021).