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Research Papers

Impact of Delays for Electric Vehicles With Direct Yaw Moment Control

[+] Author and Article Information
Yanjun Li

School of Mechanical Engineering,
Southeast University,
Nanjing 211189, China
e-mail: liyanjunyaya@sina.com

Guodong Yin

School of Mechanical Engineering,
Southeast University,
Nanjing 211189, China;
State Key Laboratory of Automotive
Safety and Energy,
Tsinghua University,
Beijing 100084, China
e-mail: ygd@seu.edu.cn

XianJian Jin

School of Mechanical Engineering,
Southeast University,
Nanjing 211189, China
e-mail: jinxianjian@yeah.net

Chentong Bian

School of Mechanical Engineering,
Southeast University,
Nanjing 211189, China
e-mail: bianchentong@163.com

Jianqiu Li

State Key Laboratory of Automotive
Safety and Energy,
Tsinghua University,
Beijing 100084, China
e-mail: lijianqiu@Tsinghua.edu.cn

1Corresponding author.

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received August 22, 2014; final manuscript received August 16, 2015; published online September 22, 2015. Assoc. Editor: Junmin Wang.

J. Dyn. Sys., Meas., Control 137(12), 121005 (Sep 22, 2015) (8 pages) Paper No: DS-14-1344; doi: 10.1115/1.4031479 History: Received August 22, 2014; Revised August 16, 2015

This paper investigates the impact of time delay factors on the lateral motion of electric vehicles with direct yaw moment control (DYC). The existence of internal time delay factors is inescapable in electric vehicle (EV) systems, which might affect the effectiveness of DYC. Computer simulation shows that DYC works well at small time delays, while significant oscillation or even loss of stability occurs when the delays are large enough. A frequency-domain method is used to determine the stability limit of the time-delayed system.

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Figures

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Fig. 2

Steering angle input in simulation

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Fig. 3

Simulation results of side slip angle without delay

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Fig. 4

Simulation results of yaw rate without delay

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Fig. 5

Simulation results of side slip angle with only control delay

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Fig. 6

Simulation results of yaw rate with only control delay

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Fig. 7

Simulation results of side slip angle with only motor delay (stable)

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Fig. 8

Simulation results of side slip angle with only motor delay (unstable)

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Fig. 9

Simulation results of yaw rate with only motor delay (stable)

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Fig. 10

Simulation results of yaw rate with only motor delay (unstable)

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Fig. 11

Stable regions of time delay values

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Fig. 12

Yaw rate response of large steering angle for critical delays

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Fig. 13

Yaw rate response of small steering angle for critical delays

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