Lateral stabilization of a four wheel independent drive electric vehicle on slippery roads. (September 2015)

• Record Type: Journal Article
• Authors: Alipour, Hasan; Sabahi, Mehran; Bannae Sharifian, Mohammad Bagher
• Is Part Of: Mechatronics. Volume 30(2015)
• Page Start: 275
• Page End: 285
• Publication Date: 2015-09
• Subjects: Driving on slippery road -- Four-wheel drive electric vehicle -- Sliding mode control -- Vehicle lateral stability control -- Yaw rate control; Computer integrated manufacturing systems -- Periodicals; Flexible manufacturing systems -- Periodicals; Mechatronics -- Periodicals; Productique -- Périodiques; Fabrication, Systèmes flexibles de -- Périodiques; Mécatronique -- Périodiques; Computer integrated manufacturing systems; Flexible manufacturing systems; Mechatronics; Periodicals; 629.89
• DOI: 10.1016/j.mechatronics.2014.08.006
• Languages: English
• ISSNs: 0957-4158

Abstract

Highlights: A new three levels controller is proposed for electric vehicles. This controller guarantees the vehicle's stable motion on the slippery roads. A novel reference longitudinal speed generator system is proposed. A new sliding mode controller is proposed and used in controller designing. The controlled vehicle is more stable now, especially on slippery roads. Abstract: In this paper, a new controller is proposed for lateral stabilization of four wheel independent drive electric vehicles without mechanical differential. The proposed controller has three levels including high, medium and low control levels. Desired vehicle dynamics such as reference longitudinal speed and reference yaw rate are determined by higher level of controller. Moreover, using a neural network observer and a fuzzy logic controller, a novel reference longitudinal speed generator system is presented. This system guarantees the vehicle's stable motion on the slippery roads. In this paper, a new sliding mode controller is proposed and its stability is proved by Lyapunov stability theorem. This sliding mode control structure is faster, more accurate, more robust, and with smaller chattering than classic sliding mode controller. Based on the proposed sliding mode controller, the medium control level is designed to determine the desired traction force and yaw moment. Therefore, suitable wheel forces are calculated. Finally, the effectiveness of the introduced controller is investigated through conducted simulations in CARSIM and MATLAB software environments.