Open AccessFour-Wheel-Independent-Driving Electric Vehicles Stability Control Based on Yaw Rate and Side Slip Angle
Author(s) -
Xinghai Hou,
Dejun Yin
Publication year - 2019
Publication title -
iop conference series. materials science and engineering
Language(s) - English
Resource type - Journals
eISSN - 1757-899X
pISSN - 1757-8981
DOI - 10.1088/1757-899x/569/3/032020
Subject(s) - yaw , carsim , control theory (sociology) , slip angle , electronic stability control , slip (aerodynamics) , vehicle dynamics , matlab , observer (physics) , automobile handling , slip ratio , sliding mode control , controller (irrigation) , engineering , computer science , nonlinear system , automotive engineering , steering wheel , brake , control (management) , physics , quantum mechanics , artificial intelligence , aerospace engineering , operating system , agronomy , biology
In this paper, a nonlinear system state observer and a vehicle upper controller suitable for a four-wheel independent drive vehicle have been proposed. The observer uses Unscented Kalman Filter to observe the longitudinal speed, lateral velocity and yaw rate of the vehicle, and then calculates the side slip angle of the vehicle. The upper controller adopts the control method of yaw rate and side slip angle combined with Sliding Mode Control to calculate the target yaw moment. Finally, the CARSIM-MATLAB co-simulation is carried out to verify the proposed control strategy. The simulation results indicate that the proposed control strategy enables the vehicle to effectively track the target yaw rate and side slip angle simultaneously, ensuring vehicle stability and safety.