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Vehicle Stability Enhancement through Hierarchical Control for a Four-Wheel-Independently-Actuated Electric Vehicle

Author

Listed:
  • Zhenpo Wang

    (Collaborative Innovation Center for Electric Vehicles in Beijing & National Engineering Laboratory for Electric Vehicles, Beijing Institute of Technology, Beijing 100081, China; wangzhenpo@bit.edu.cn (Z.W.); wangyachaoa@126.com (Y.W.))

  • Yachao Wang

    (Collaborative Innovation Center for Electric Vehicles in Beijing & National Engineering Laboratory for Electric Vehicles, Beijing Institute of Technology, Beijing 100081, China; wangzhenpo@bit.edu.cn (Z.W.); wangyachaoa@126.com (Y.W.))

  • Lei Zhang

    (Collaborative Innovation Center for Electric Vehicles in Beijing & National Engineering Laboratory for Electric Vehicles, Beijing Institute of Technology, Beijing 100081, China; wangzhenpo@bit.edu.cn (Z.W.); wangyachaoa@126.com (Y.W.))

  • Mingchun Liu

    (School of Mechatronics Engineering, Nanchang University, Nanchang 330031, China; liumingchun@ncu.edu.cn)

Abstract

In this paper, an optimal control strategy for a four-wheel-independently-actuated electric vehicle (FWIA EV) is proposed to improve vehicle dynamics stability and handling performance. The proposed scheme has a hierarchical structure composed of an upper and a lower controller. The desired longitudinal and lateral forces and yaw moment are determined based on the sliding-mode control (SMC) scheme in the upper controller, which takes the longitudinal and lateral velocity and the yaw rate as control variables. In the lower controller, an optimization algorithm is adopted to allocate the driving/braking torques to each in-wheel motor. A cost function with adjustable weight coefficients is specially designed by taking the motor power capability and the tire workload into consideration. The simulation and hardware-in-loop experimental results show that the proposed control strategy exhibits superior performance in comparison to commonly-used rule-based control strategies, and has the capability of online implementation.

Suggested Citation

  • Zhenpo Wang & Yachao Wang & Lei Zhang & Mingchun Liu, 2017. "Vehicle Stability Enhancement through Hierarchical Control for a Four-Wheel-Independently-Actuated Electric Vehicle," Energies, MDPI, vol. 10(7), pages 1-18, July.
    • Handle: RePEc:gam:jeners:v:10:y:2017:i:7:p:947-:d:104092
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    Citations

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    Cited by:

    1. Zhenpo Wang & Changhui Qu & Lei Zhang & Jin Zhang & Wen Yu, 2018. "Integrated Sizing and Energy Management for Four-Wheel-Independently-Actuated Electric Vehicles Considering Realistic Constructed Driving Cycles," Energies, MDPI, vol. 11(7), pages 1-22, July.
    2. Mohamed Derbeli & Cristian Napole & Oscar Barambones & Jesus Sanchez & Isidro Calvo & Pablo Fernández-Bustamante, 2021. "Maximum Power Point Tracking Techniques for Photovoltaic Panel: A Review and Experimental Applications," Energies, MDPI, vol. 14(22), pages 1-31, November.
    3. Li Zhai & Rufei Hou & Tianmin Sun & Steven Kavuma, 2018. "Continuous Steering Stability Control Based on an Energy-Saving Torque Distribution Algorithm for a Four in-Wheel-Motor Independent-Drive Electric Vehicle," Energies, MDPI, vol. 11(2), pages 1-19, February.
    4. Wei, Hongqian & Zhang, Nan & Liang, Jun & Ai, Qiang & Zhao, Wenqiang & Huang, Tianyi & Zhang, Youtong, 2022. "Deep reinforcement learning based direct torque control strategy for distributed drive electric vehicles considering active safety and energy saving performance," Energy, Elsevier, vol. 238(PB).
    5. Ze Zhao & Lei Zhang & Jianyang Wu & Liang Gu & Shaohua Li, 2023. "Vertical-Longitudinal Coupling Effect Investigation and System Optimization for a Suspension-In-Wheel-Motor System in Electric Vehicle Applications," Sustainability, MDPI, vol. 15(5), pages 1-24, February.
    6. Songlin Yang & Jingan Feng & Bao Song, 2021. "Research on Decoupled Optimal Control of Straight-Line Driving Stability of Electric Vehicles Driven by Four-Wheel Hub Motors," Energies, MDPI, vol. 14(18), pages 1-25, September.
    7. Zhenyuan Bai & Yufeng Lu & Yunxia Li, 2020. "Method of Improving Lateral Stability by Using Additional Yaw Moment of Semi-Trailer," Energies, MDPI, vol. 13(23), pages 1-23, November.
    8. Mingchun Liu & Feihong Gu & Yuanzhi Zhang, 2017. "Ride Comfort Optimization of In-Wheel-Motor Electric Vehicles with In-Wheel Vibration Absorbers," Energies, MDPI, vol. 10(10), pages 1-21, October.
    9. Rufei Hou & Li Zhai & Tianmin Sun, 2018. "Steering Stability Control for a Four Hub-Motor Independent-Drive Electric Vehicle with Varying Adhesion Coefficient," Energies, MDPI, vol. 11(9), pages 1-17, September.

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