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International Journal of Automotive Technology > Volume 19(5); 2018 > Article
International Journal of Automotive Technology 2018;19(5): 811-823.
doi: https://doi.org/10.1007/s12239-018-0078-0
ON THE EXPERIMENTAL ANALYSIS OF INTEGRAL SLIDING MODES FOR YAW RATE AND SIDESLIP CONTROL OF AN ELECTRIC VEHICLE WITH MULTIPLE MOTORS
Antonio Tota1, Basilio Lenzo1, Qian Lu1, Aldo Sorniotti1, Patrick Gruber1, Saber Fallah1, Mauro Velardocchia7, Enrico Galvagno7, Jasper De Smet9
1University of Surrey
7Politecnico di Torino
9Flanders MAKE
ABSTRACT
With the advent of electric vehicles with multiple motors, the steady-state and transient cornering responses can be designed and implemented through the continuous torque control of the individual wheels, i.e., torque-vectoring or direct yaw moment control. The literature includes several papers on sliding mode control theory for torque-vectoring, but the experimental investigation is so far limited. More importantly, to the knowledge of the authors, the experimental comparison of direct yaw moment control based on sliding modes and typical controllers used for stability control in production vehicles is missing. This paper aims to reduce this gap by presenting and analyzing an integral sliding mode controller for concurrent yaw rate and sideslip control. A new driving mode, the Enhanced Sport mode, is proposed, inducing sustained high values of sideslip angle, which can be limited to a specified threshold. The system is experimentally assessed on a four-wheel-drive electric vehicle. The performance of the integral sliding mode controller is compared with that of a linear quadratic regulator during step steer tests. The results show that the integral sliding mode controller significantly enhances the tracking performance and yaw damping compared to the more conventional linear quadratic regulator based on an augmented singletrack vehicle model formulation.
Key Words: Electric vehicle, Four-wheel-drive, Yaw rate control, Sideslip control, Integral sliding mode, Linear quadratic regulator, Experimental demonstration, Performance comparison
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