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NFTSM control of direct yaw moment for autonomous electric vehicles with consideration of tire nonlinear mechanical properties
Sun, Xiaoqiang1,2; Wang, Yujun1; Cai, Yingfeng1; Wong, Pak Kin3; Chen, Long2
2021-06
Source PublicationBulletin of the Polish Academy of Sciences-Technical Sciences
ISSN0239-7528
Volume69Issue:3
Abstract

To improve the curve driving stability and safety under critical maneuvers for four-wheel independent drive autonomous electric vehicles, a three-stage direct yaw moment control (DYC) strategy design procedure is proposed in this work. The first stage includes modeling of the tire nonlinear mechanical properties, i.e. the coupling relationship between the tire longitudinal force and the tire lateral force, which is crucial for the DYC strategy design, in the STI (Systems Technologies Inc.) form based on experimental data. On this basis, a 7-DOF vehicle dynamics model is established and the direct yaw moment calculation problem of the four-wheel independent drive autonomous electric vehicle is solved through the nonsingular fast terminal sliding mode (NFTSM) control method. Thus optimal direct yaw moment can be obtained. To achieve this direct yaw moment, an optimal allocation problem of the tire forces is further solved by using the trust-region interior-point method, which can effectively guarantee the solving efficiency of a complex optimization problem such as the tire driving and braking forces allocation of four wheels in this work. Finally, effectiveness of the DYC strategy proposed for autonomous electric vehicles is verified through the CarSim-Simulink co-simulation results.

KeywordAutonomous Electric Vehicles Direct Yaw Moment Control (Dyc) Nonsingular Fast Terminal Sliding Mode (Nftsm) Tire Nonlinear Mechanical Properties Trust-region Interior-point Method
DOI10.24425/bpasts.2021.137065
URLView the original
Indexed BySCIE
Language英語English
WOS IDWOS:000682736900016
Scopus ID2-s2.0-85111746072
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Cited Times [WOS]:1   [WOS Record]     [Related Records in WOS]
Document TypeJournal article
CollectionDEPARTMENT OF ELECTROMECHANICAL ENGINEERING
Faculty of Science and Technology
Affiliation1.Automotive Engineering Research Institute, Jiangsu University, Zhenjiang Jiangsu, China
2.State Key Laboratory of Automotive Safety and Energy, Tsinghua University, Beijing, China
3.Department of Electromechanical Engineering, University of Macau, Taipa, Macao
Recommended Citation
GB/T 7714
Sun, Xiaoqiang,Wang, Yujun,Cai, Yingfeng,et al. NFTSM control of direct yaw moment for autonomous electric vehicles with consideration of tire nonlinear mechanical properties[J]. Bulletin of the Polish Academy of Sciences-Technical Sciences,2021,69(3).
APA Sun, Xiaoqiang,Wang, Yujun,Cai, Yingfeng,Wong, Pak Kin,&Chen, Long.(2021).NFTSM control of direct yaw moment for autonomous electric vehicles with consideration of tire nonlinear mechanical properties.Bulletin of the Polish Academy of Sciences-Technical Sciences,69(3).
MLA Sun, Xiaoqiang,et al."NFTSM control of direct yaw moment for autonomous electric vehicles with consideration of tire nonlinear mechanical properties".Bulletin of the Polish Academy of Sciences-Technical Sciences 69.3(2021).
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