Journal
MECHANICAL SYSTEMS AND SIGNAL PROCESSING
Volume 60-61, Issue -, Pages 727-741Publisher
ACADEMIC PRESS LTD- ELSEVIER SCIENCE LTD
DOI: 10.1016/j.ymssp.2014.12.026
Keywords
Vehicle lateral dynamics; Robust control; In-wheel motor; Electric vehicle; Active steering
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Funding
- National Natural Science Foundation of China [51205058, 51375086]
- Jiangsu Province Science Foundation for Youths, China [BK20140634]
- Guangxi Key Laboratory of Manufacturing System and Advanced Manufacturing Technology [14-045-15-013K]
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This paper presents an integrated optimal dynamics control of four-wheel driving and four-wheel steering (4WD4WS) electric ground vehicles via hierarchical control methodology. In the higher-level design, an LQR controller is proposed to obtain the integrated lateral force and yaw moment, according to their respective reference values. The lower-level controller is designed to ensure all the tires work in the stable region while realizing the tracking control of the vehicle dynamics. The tire-road friction coefficient is estimated through the integrated longitudinal force and lateral force, respectively, using a brush tire model. To reduce the estimation error, a novel data fusion function is employed to generate the final estimation value. Finally, the effectiveness of the proposed control and estimation strategies is validated via CarSim-Simulink joint simulation. (C) 2015 Elsevier Ltd. All rights reserved.
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