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On the experimental analysis of integral sliding modes for yaw rate and sideslip control of an electric vehicle with multiple motors

Tota, Antonio, Lenzo, Basilio, Lu, Qian, Sorniotti, Aldo, Gruber, Patrick, Fallah, Saber, Velardocchia, Mauro, Galvagno, Enrico and De Smet, Jasper (2018) On the experimental analysis of integral sliding modes for yaw rate and sideslip control of an electric vehicle with multiple motors International Journal of Automotive Technology, 19 (5). pp. 811-823.

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Abstract

With the advent of electric vehicles with multiple motors, the steady-state and transient cornering responses can be designed based on high-level reference targets, 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 describing the application of the sliding mode control theory to torque-vectoring. However, the experimental implementations of sliding mode controllers on real vehicle prototypes are very limited at the moment. More importantly, to the knowledge of the authors, there is lack of experimental assessments of the performance benefits of direct yaw moment control based on sliding modes, with respect to other controllers, such as the proportional integral derivative controllers or linear quadratic regulators currently used for stability control in production vehicles. This paper aims to reduce this gap by presenting 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 safely limited to a specified threshold. The system is experimentally assessed on a four-wheel-drive electric vehicle along a wide range of maneuvers. 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 brings a significant enhancement of the tracking performance and yaw damping with respect to the more conventional linear quadratic regulator based on an augmented single-track vehicle model formulation.

Item Type: Article
Divisions : Faculty of Engineering and Physical Sciences > Mechanical Engineering Sciences
Authors :
NameEmailORCID
Tota, Antonioantonio.tota@surrey.ac.uk
Lenzo, Basilio
Lu, Qian
Sorniotti, AldoA.Sorniotti@surrey.ac.uk
Gruber, PatrickP.Gruber@surrey.ac.uk
Fallah, Sabers.fallah@surrey.ac.uk
Velardocchia, Mauro
Galvagno, Enrico
De Smet, Jasper
Date : 12 September 2018
DOI : 10.1007/s12239-018-0078-0
Copyright Disclaimer : © The Korean Society of Automotive Engineers and Springer-Verlag GmbH Germany 2017. The final publication is available at Springer via https://doi.org/10.1007/s12239-018-0078-0
Uncontrolled Keywords : Electric vehicle; Four-wheel-drive; Yaw rate control; Sideslip control; Integral sliding mode; Linear quadratic regulator; Experimental demonstration; Performance comparison
Depositing User : Clive Harris
Date Deposited : 19 Apr 2018 10:26
Last Modified : 17 Apr 2019 02:08
URI: http://epubs.surrey.ac.uk/id/eprint/846266

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