Cascade Direct Yaw Moment Control for an Independent Eight In-Wheel Motor-Driven Autonomous Vehicle
Unstructured off-road environments with complex terrain obstacles and pavement properties bring obvious challenges for special purpose autonomous vehicle control. A cascade direct yaw moment control strategy (CDYC), which contains a main loop and a servo loop, is proposed to enhance the accuracy and...
| Main Authors: | , , , , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-09-01
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| Series: | Electronics |
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| Online Access: | https://www.mdpi.com/2079-9292/11/18/2930 |
| _version_ | 1797489084124364800 |
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| author | Senqi Tan Yang Wang Wen Cheng Tian Luo Naisi Zhang Shengfei Li Bo Pan Xing Cui |
| author_facet | Senqi Tan Yang Wang Wen Cheng Tian Luo Naisi Zhang Shengfei Li Bo Pan Xing Cui |
| author_sort | Senqi Tan |
| collection | DOAJ |
| description | Unstructured off-road environments with complex terrain obstacles and pavement properties bring obvious challenges for special purpose autonomous vehicle control. A cascade direct yaw moment control strategy (CDYC), which contains a main loop and a servo loop, is proposed to enhance the accuracy and stability of an independent eight in-wheel motor-driven autonomous vehicle with rear-wheel steering (8WD/RWS). In the main loop, double PID controllers are designed to generate the desired drive moment and yaw rate. In the servo loop, the quadratic programming (QP) algorithm with the tire force boundaries optimally allocates the demanded yaw moment to individual wheel torques. The 8WD/RWS prototype is virtually established using TruckSim and serves as the control object for co-simulation. The proposed cascade controller is verified by simulations in customized off-road driving scenarios. The simulation results show that the proposed control architecture can effectively enhance the path-tracking ability and handling stability of the 8WD/RWS, as to ensure the maneuverability and control stability under extreme off-road conditions. |
| first_indexed | 2024-03-10T00:11:28Z |
| format | Article |
| id | doaj.art-c7f0ef9c437e4965be6b0ad91d68e659 |
| institution | Directory Open Access Journal |
| issn | 2079-9292 |
| language | English |
| last_indexed | 2024-03-10T00:11:28Z |
| publishDate | 2022-09-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Electronics |
| spelling | doaj.art-c7f0ef9c437e4965be6b0ad91d68e6592023-11-23T15:59:01ZengMDPI AGElectronics2079-92922022-09-011118293010.3390/electronics11182930Cascade Direct Yaw Moment Control for an Independent Eight In-Wheel Motor-Driven Autonomous VehicleSenqi Tan0Yang Wang1Wen Cheng2Tian Luo3Naisi Zhang4Shengfei Li5Bo Pan6Xing Cui7China North Vehicle Research Institute, Beijing 100072, ChinaChina North Vehicle Research Institute, Beijing 100072, ChinaChina North Vehicle Research Institute, Beijing 100072, ChinaChina North Vehicle Research Institute, Beijing 100072, ChinaChina North Vehicle Research Institute, Beijing 100072, ChinaChina North Vehicle Research Institute, Beijing 100072, ChinaChina North Vehicle Research Institute, Beijing 100072, ChinaChina North Vehicle Research Institute, Beijing 100072, ChinaUnstructured off-road environments with complex terrain obstacles and pavement properties bring obvious challenges for special purpose autonomous vehicle control. A cascade direct yaw moment control strategy (CDYC), which contains a main loop and a servo loop, is proposed to enhance the accuracy and stability of an independent eight in-wheel motor-driven autonomous vehicle with rear-wheel steering (8WD/RWS). In the main loop, double PID controllers are designed to generate the desired drive moment and yaw rate. In the servo loop, the quadratic programming (QP) algorithm with the tire force boundaries optimally allocates the demanded yaw moment to individual wheel torques. The 8WD/RWS prototype is virtually established using TruckSim and serves as the control object for co-simulation. The proposed cascade controller is verified by simulations in customized off-road driving scenarios. The simulation results show that the proposed control architecture can effectively enhance the path-tracking ability and handling stability of the 8WD/RWS, as to ensure the maneuverability and control stability under extreme off-road conditions.https://www.mdpi.com/2079-9292/11/18/2930torque allocationcascade controlunmanned vehicleoff-road drivingdistributed drive electric vehicles |
| spellingShingle | Senqi Tan Yang Wang Wen Cheng Tian Luo Naisi Zhang Shengfei Li Bo Pan Xing Cui Cascade Direct Yaw Moment Control for an Independent Eight In-Wheel Motor-Driven Autonomous Vehicle Electronics torque allocation cascade control unmanned vehicle off-road driving distributed drive electric vehicles |
| title | Cascade Direct Yaw Moment Control for an Independent Eight In-Wheel Motor-Driven Autonomous Vehicle |
| title_full | Cascade Direct Yaw Moment Control for an Independent Eight In-Wheel Motor-Driven Autonomous Vehicle |
| title_fullStr | Cascade Direct Yaw Moment Control for an Independent Eight In-Wheel Motor-Driven Autonomous Vehicle |
| title_full_unstemmed | Cascade Direct Yaw Moment Control for an Independent Eight In-Wheel Motor-Driven Autonomous Vehicle |
| title_short | Cascade Direct Yaw Moment Control for an Independent Eight In-Wheel Motor-Driven Autonomous Vehicle |
| title_sort | cascade direct yaw moment control for an independent eight in wheel motor driven autonomous vehicle |
| topic | torque allocation cascade control unmanned vehicle off-road driving distributed drive electric vehicles |
| url | https://www.mdpi.com/2079-9292/11/18/2930 |
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