Model reference adaptive stability control for independent driving electric vehicle

doi:10.3969/j.issn.1674-8484.2021.03.010

Abstract

Abstract:

A direct yaw moment controller algorithm was designed based on a model reference adaptive control (MRAC) to improve the lateral stability and safety for four-wheel independent electric vehicles (EV). The upper-level controller was based on the Lyapunov function to estimate the tire corning stiffness and vehicle mass in real-time and obtain the additional yaw moment. The lower-level controller allocated the requested yaw moment to each wheel via an optimized quadratic programming algorithm, and guarantees the real-time dynamic response of the controller. The results from Carsim and Simulink co-simulation under double lane change driving mode show that the proposed MRAC controller algorithm outperforms the conventional sliding mode controller (SMC) with the reductions for mean absolute errors of yaw rate and sideslip angle by 43.0% and 37.1% under 0.85 adhesion ratio; with 25.3% and 23.2% reductions under 0.40 adhesion ratio. Therefore, the proposed MRAC controller algorithm improves the vehicle lateral stability and safety.

Key words: electric vehicles (EV), four-wheel independent driving, model reference adaptive control (MRAC), parameter uncertainties, torque distribution optimization, stability performance

CLC Number:

U461.6

LI Jialin, AO Di, WANG Yang, XIONG Rui. Model reference adaptive stability control for independent driving electric vehicle[J]. Journal of Automotive Safety and Energy, 2021, 12(3): 355-363.

Figures/Tables 5

References 31

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整车质量,m	1.110 t
转动惯量,I_z	1.343 t·m²
轴距,L	2.600 m
前轴,L_a	1.040 m
后轴,L_b	1.560 m
轮胎半径,r	0.310 m
左右轮距,T_w	1.480 m
车辆质心高度,h_mc	0.540 m
前轮侧偏刚度,K_f	40.0 kN·rad^-1
后轮侧偏刚度,K_r	45.0 kN·rad^-1

整车质量,m	1.110 t
转动惯量,I_z	1.343 t·m²
轴距,L	2.600 m
前轴,L_a	1.040 m
后轴,L_b	1.560 m
轮胎半径,r	0.310 m
左右轮距,T_w	1.480 m
车辆质心高度,h_mc	0.540 m
前轮侧偏刚度,K_f	40.0 kN·rad^-1
后轮侧偏刚度,K_r	45.0 kN·rad^-1

控制方法	道路条件	ω / (mrad·s^-1)	β / (°)	D_y / mm
SMC	高附	374	0.105	332
SMC	低附	517	0.211	351
MRAC	高附	213	0.066	274
MRAC	低附	386	0.162	307

控制方法	道路条件	ω / (mrad·s^-1)	β / (°)	D_y / mm
SMC	高附	374	0.105	332
SMC	低附	517	0.211	351
MRAC	高附	213	0.066	274
MRAC	低附	386	0.162	307