American Institute of Mathematical Sciences

doi: 10.3934/dcdss.2022077
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Design of the integrated AFS and DYC scheme for vehicles via FTSM and SOSM techniques

 School of Electrical and Information Engineering, Jiangsu University, Zhenjiang, Jiangsu 212013, China

* Corresponding author: Li Ma

Received  October 2021 Revised  February 2022 Early access March 2022

Fund Project: This work is supported by the National Science Foundation of China under Grant 61973142, the Jiangsu Natural Science Foundation for Distinguished Young Scholars under Grant BK20180045 and the Priority Academic Program Development of Jiangsu Higher Education Institutions

Improving the stability and safety is of great significance for the in-wheel electric vehicle. There are many studies only concentrating on active front steering (AFS) control or direct yaw-moment control (DYC). However, When the in-wheel electric vehicle is under extreme conditions, AFS or DYC alone is not effective. In this paper, an integrated controller of AFS and DYC is proposed. Firstly, the ideal values of yaw rate and sideslip angle can be calculated based on the two-degree-of-freedom vehicle model. Secondly, the AFS controller is obtained according to the backstepping-based fast terminal sliding mode (FTSM). Then, the DYC controller which consists of the upper controller and the lower controller is constructed. The upper controller is developed via the integral-based second-order sliding mode (SOSM). The appropriate torque is outputted to each wheel by the lower controller. Finally, the simulation results show that the actual yaw rate and sideslip angle can approach the ideal ones as closely as possible under the proposed integrated controller.

Citation: Lina Zhang, Li Ma, Shan Chen. Design of the integrated AFS and DYC scheme for vehicles via FTSM and SOSM techniques. Discrete and Continuous Dynamical Systems - S, doi: 10.3934/dcdss.2022077
References:

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References:
2-DOF vehicle model
7-DOF vehicle model
Structure of the integrated control system
Steering wheel angle
The vehicle trajectories under different controllers
Response curves of yaw rate under different controllers
Response curves of sideslip angle under different controllers
The maximum errors between the ideal value and the actual value under different controllers
Side wind disturbance input
The vehicle trajectories under different controllers
Response curves of yaw rate under different controllers
Response curves of sideslip angle under different controllers
The maximum errors between the ideal value and the actual value under different controllers
Controller parameters
 symbol value unit $R$ 0.35 ${m}$ ${C_f}$ 79240 ${N/rad}$ ${C_r}$ 87002 ${N/rad}$ $a$ 1.05 ${m}$ $b$ 1.57 ${m}$ $m$ 1429 ${Kg}$ ${I_z}$ 2400 ${Kg.m}^2$ ${V_x}$ 120 ${{Km/h}}$
 symbol value unit $R$ 0.35 ${m}$ ${C_f}$ 79240 ${N/rad}$ ${C_r}$ 87002 ${N/rad}$ $a$ 1.05 ${m}$ $b$ 1.57 ${m}$ $m$ 1429 ${Kg}$ ${I_z}$ 2400 ${Kg.m}^2$ ${V_x}$ 120 ${{Km/h}}$
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