Research Papers

Lateral Motion Stability Control Via Sampled-Data Output Feedback of a High-Speed Electric Vehicle Driven by Four In-Wheel Motors

[+] Author and Article Information
Qinghua Meng

School of Mechanical Engineering,
Hangzhou Dianzi University,
Hangzhou 310018, Zhejiang, China
e-mail: mengqinghua@hdu.edu.cn

Chunjiang Qian

College of Engineering,
University of Texas at San Antonio,
San Antonio, TX 78249
e-mail: chunjiang.qian@utsa.edu

Pan Wang

School of Automation,
Southeast University,
Nanjing 210096, JiangSu, China
e-mail: panwangqf@126.com

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received April 2, 2016; final manuscript received May 30, 2017; published online August 29, 2017. Assoc. Editor: Azim Eskandarian.

J. Dyn. Sys., Meas., Control 140(1), 011002 (Aug 29, 2017) (8 pages) Paper No: DS-16-1170; doi: 10.1115/1.4037266 History: Received April 02, 2016; Revised May 30, 2017

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.

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Fig. 1

The bike model of an EV driven by four in-wheel motors

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Fig. 5

The system state γ and observer state γ̂ of the EV under 120 km/h (yaw rate)

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Fig. 6

The output of controller under 120 km/h

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Fig. 2

The disturbance used in the simulation

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Fig. 7

The system state β and observer state β̂ of the EV under 80 km/h (vehicle sideslip angle)

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Fig. 8

The system state γ and observer state γ̂ of the EV under 80 km/h (yaw rate)

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Fig. 3

The sampled-data output feedback controller input

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Fig. 9

The output of controller under 80 km/h

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Fig. 4

The system state β and observer state β̂ of the EV under 120 km/h (vehicle sideslip angle)




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