Towards neutral steer and sideslip reduction for four-wheeled electric vehicles

doi:10.1007/s11465-012-0316-5

Front Mech Eng

2012, Vol. 7

Issue (1) : 16-22 https://doi.org/10.1007/s11465-012-0316-5

RESEARCH ARTICLE

Towards neutral steer and sideslip reduction for four-wheeled electric vehicles

Guisheng ZHAI¹(

), Masayuki NAKA², Tomoaki KOBAYASHI², Joe IMAE²

1. Department of Mathematical Sciences, Shibaura Institute of Technology, Saitama 337–8570, Japan; 2. Department of Mechanical Engineering, Osaka Prefecture University, Osaka 599–8531, Japan

Download: PDF(221 KB) HTML
Export: BibTeX | EndNote | Reference Manager | ProCite | RefWorks

Abstract

This paper proposes an approach to achieving both neutral steer and sideslip reduction for four-wheeled electric vehicles. The control problem is reduced to constructing a servo system tracking appropriate reference input, where the tracking is realized in the framework of ?∞ control. To deal with time-varying vehicle velocity for practical purpose, a gain scheduling strategy is developed to obtain the controller, where the lower and upper bounds of the velocity are used to obtain a polytopic range for the parameters in the system coefficient matrices. A numerical example is given to show validity of the proposed approach.

Keywords four-wheeled electric vehicles neutral steer sideslip reduction servo system ?∞ control')" href="#">?∞ control gain scheduling linear matrix inequality (LMI)

Corresponding Author(s): ZHAI Guisheng,Email:zhai@shibaura-it.ac.jp

Issue Date: 05 March 2012

Cite this article:

Guisheng ZHAI,Masayuki NAKA,Tomoaki KOBAYASHI, et al. Towards neutral steer and sideslip reduction for four-wheeled electric vehicles[J]. Front Mech Eng, 2012, 7(1): 16-22.

URL:

https://academic.hep.com.cn/fme/EN/10.1007/s11465-012-0316-5
https://academic.hep.com.cn/fme/EN/Y2012/V7/I1/16

Fig.1 Steering property

Fig.2 Dynamics of moving wheels. (a) Move forward direct; (b) turn a corner

Fig.3 Vehicle model (top view)

Fig.4 1-type servo system

Fig.5 2-type servo system

Fig.6 Polytopic parameter range

Tab.1 Physical system parameters

Fig.7 Tracking error between and

Fig.8 Tracking error between and *

1	Chan C C, Chau K T. Modern Electric Vehicle Technology. New York: Oxford University Press, 2001.
2	Becker T A. Electric vehicles in the United States: A new model with forecasts to 2030. Technical Brief, Center for Entrepreneurship & Technology (CET) at the University of California, Berkeley , 2009
3	Williams D E, Haddad W M. Nonlinear control of roll moment distribution to influence vehicle yaw characteristics. IEEE Transactions on Control Systems Technology , 1995, 3(1): 110-116 doi: 10.1109/87.370716
4	Abe M, Kano Y, Shibahata Y, Furukawa Y. Improvement of vehicle handling safety with vehicle side-slip control by direct yaw moment. Vehicle System Dynamics , 2000, 33: 665-679
5	Ono E, Doi S, Hosoe S. Vehicle running stability analysis and spin control. International Journal of Automotive Engineering , 1996, 27(3): 152-157 (in Japanese)
6	Johansen T A, Petersen I, Kalkkuhl J, Ludemann J. Gain-scheduled wheel slip control in automotive brake systems. IEEE Transactions on Control Systems Technology , 2003, 11(6): 799-811 doi: 10.1109/TCST.2003.815607
7	Kwakernaak H. Robust control and ?∞. Automatica , 1993, 29(2): 255-273 doi: 10.1016/0005-1098(93)90122-A
8	Rajamani R. Vehicle Dynamics and Control (Mechanical Engineering). New York: Springer, 2010
9	Dorf R C, Bishop R H. Modern Control Systems. 9th ed . New Jersey: Prentice-Hall, 2001
10	Iwasaki T, Skelton R E, Grigoriadis K M. A Unified Algebraic Approach to Linear Control Design. London: Taylor & Francis , 1998
11	Boyd S, El Ghaoui L, Feron E, Balakrishnan V. Linear Matrix Inequalities in System and Control Theory. Philadelphia: SIAM, 1994
12	Gahinet P, Nemirovski A, Laub A J, Chilali M. LMI Control Toolbox for Use with Matlab. The MathWorks Inc. , 1995

[1]	Jintao LIANG, Zhengfeng MING, Peida LI. System construction of a four-side primary permanent-magnet linear motor drive mechanical press[J]. Front. Mech. Eng., 2020, 15(4): 600-609.
[2]	Jianyong YAO. Model-based nonlinear control of hydraulic servo systems: Challenges, developments and perspectives[J]. Front. Mech. Eng., 2018, 13(2): 179-210.

Viewed

Full text

Abstract

Cited

Shared

Discussed