Robust Variable Structure Anti-Slip Control Method of a Distributed Drive Electric Vehicle
Slip rate control is important in improving vehicle stability and driving efficiency. In this paper, a robust slip rate control system is designed for distributed drive electric vehicles that consists of two slip rate estimators for multi-driving conditions, a vehicle speed estimator, and an anti-wi...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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IEEE
2020-01-01
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| Series: | IEEE Access |
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| Online Access: | https://ieeexplore.ieee.org/document/9186642/ |
| _version_ | 1818618565968789504 |
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| author | Bo Leng Lu Xiong Zhuoping Yu Kai Sun Ming Liu |
| author_facet | Bo Leng Lu Xiong Zhuoping Yu Kai Sun Ming Liu |
| author_sort | Bo Leng |
| collection | DOAJ |
| description | Slip rate control is important in improving vehicle stability and driving efficiency. In this paper, a robust slip rate control system is designed for distributed drive electric vehicles that consists of two slip rate estimators for multi-driving conditions, a vehicle speed estimator, and an anti-windup robust variable structure slip rate tracking controller. Because there is no driven wheel in a four-in-wheel-motor distributed drive electric vehicle, the estimators for small and large slip rates are designed based on dynamic and kinematic methods, respectively, which can switch according to the slip conditions. The convergence of the estimation error is discussed with the Lyapunov stability law and is less than 2% under the condition of acceleration on a low-friction road. The slip rate tracking controller is designed based on the sliding mode control law and the proportional-integral (PI) control method to handle model nonlinearity, modelling and estimation errors, and disturbances and to control the input chattering and saturation. The asymptotic stability of the tracking error is proven by Lyapunov theory. A joint control variable composed of the wheel angular acceleration and slip rate is designed to improve the robustness of the controller against the slip rate estimation error. Simulations and experiments under various conditions are performed to verify the proposed anti-slip control method. The results show that compared with a distributed drive vehicle without a slip rate controller, the controlled vehicle can prevent serious wheel skid on low-adhesion roads and improve the driving performance. |
| first_indexed | 2024-12-16T17:23:37Z |
| format | Article |
| id | doaj.art-98611eec618542d0908cd3ea43363592 |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-12-16T17:23:37Z |
| publishDate | 2020-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-98611eec618542d0908cd3ea433635922022-12-21T22:23:06ZengIEEEIEEE Access2169-35362020-01-01816219616220810.1109/ACCESS.2020.30216949186642Robust Variable Structure Anti-Slip Control Method of a Distributed Drive Electric VehicleBo Leng0https://orcid.org/0000-0003-3513-1708Lu Xiong1https://orcid.org/0000-0002-1673-2658Zhuoping Yu2https://orcid.org/0000-0002-8775-0052Kai Sun3Ming Liu4https://orcid.org/0000-0003-2801-8918Postdoctoral Station of Mechanical Engineering, Tongji University, Shanghai, ChinaSchool of Automotive Studies, Tongji University, Shanghai, ChinaSchool of Automotive Studies, Tongji University, Shanghai, ChinaSchool of Automotive Studies, Tongji University, Shanghai, ChinaSchool of Automotive Studies, Tongji University, Shanghai, ChinaSlip rate control is important in improving vehicle stability and driving efficiency. In this paper, a robust slip rate control system is designed for distributed drive electric vehicles that consists of two slip rate estimators for multi-driving conditions, a vehicle speed estimator, and an anti-windup robust variable structure slip rate tracking controller. Because there is no driven wheel in a four-in-wheel-motor distributed drive electric vehicle, the estimators for small and large slip rates are designed based on dynamic and kinematic methods, respectively, which can switch according to the slip conditions. The convergence of the estimation error is discussed with the Lyapunov stability law and is less than 2% under the condition of acceleration on a low-friction road. The slip rate tracking controller is designed based on the sliding mode control law and the proportional-integral (PI) control method to handle model nonlinearity, modelling and estimation errors, and disturbances and to control the input chattering and saturation. The asymptotic stability of the tracking error is proven by Lyapunov theory. A joint control variable composed of the wheel angular acceleration and slip rate is designed to improve the robustness of the controller against the slip rate estimation error. Simulations and experiments under various conditions are performed to verify the proposed anti-slip control method. The results show that compared with a distributed drive vehicle without a slip rate controller, the controlled vehicle can prevent serious wheel skid on low-adhesion roads and improve the driving performance.https://ieeexplore.ieee.org/document/9186642/Distributed drive electric vehicleLyapunov stabilitysliding mode controlslip rate controlslip rate estimationvehicle speed estimation |
| spellingShingle | Bo Leng Lu Xiong Zhuoping Yu Kai Sun Ming Liu Robust Variable Structure Anti-Slip Control Method of a Distributed Drive Electric Vehicle IEEE Access Distributed drive electric vehicle Lyapunov stability sliding mode control slip rate control slip rate estimation vehicle speed estimation |
| title | Robust Variable Structure Anti-Slip Control Method of a Distributed Drive Electric Vehicle |
| title_full | Robust Variable Structure Anti-Slip Control Method of a Distributed Drive Electric Vehicle |
| title_fullStr | Robust Variable Structure Anti-Slip Control Method of a Distributed Drive Electric Vehicle |
| title_full_unstemmed | Robust Variable Structure Anti-Slip Control Method of a Distributed Drive Electric Vehicle |
| title_short | Robust Variable Structure Anti-Slip Control Method of a Distributed Drive Electric Vehicle |
| title_sort | robust variable structure anti slip control method of a distributed drive electric vehicle |
| topic | Distributed drive electric vehicle Lyapunov stability sliding mode control slip rate control slip rate estimation vehicle speed estimation |
| url | https://ieeexplore.ieee.org/document/9186642/ |
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