Journal
ISA TRANSACTIONS
Volume 84, Issue -, Pages 262-270Publisher
ELSEVIER SCIENCE INC
DOI: 10.1016/j.isatra.2018.08.024
Keywords
Shimmy phenomenon; Electric vehicle; Sampled-data output feedback; Almost disturbance decoupling
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Funding
- Zhejiang Provincial Natural Science Foundation of China [LY16E050003]
- Natural Science Foundation of China [61628302]
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In this paper, a new two Degree of Freedom (DOF) shimmy dynamic model of an Electric Vehicle (EV) with independent suspension subject to uncertain disturbances is built via Lagrange's theorem firstly. Secondly, Based on the built model, an active control method is proposed to solve the shimmy problem of the steering system via a sampled-data output feedback controller. The output feedback domination approach is also used to dominate uncertain disturbances by using a scaling gain. With the help of these tools, the sampling period and scaling gain are calculated to guarantee global stability and disturbance attenuation for the closed-loop control system. Finally, simulations and tests are conducted to verify the effectiveness of the sampled-data output feedback controller for the EV's shimmy problem under different conditions. (C) 2018 ISA. Published by Elsevier Ltd. All rights reserved.
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