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| Sliding mode-PID control of driving system for motorized wheels vehicle |
| 1.College of Energy and Power Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, Jiangsu 210016, China; 2.School of Transportation and Vehicle Engineering, Shandong University of Technology, Zibo, Shandong 255049, China |
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Abstract In order to improve response time and response stability of the driving system of motorized wheels vehicle, the simplified vehicle dynamic models of in-wheel motors and the PM BLDC driving modles were built. Based on sliding mode theory and PID control method, the outer-loop sliding mode-PID controller and the inner-loop PID tracking controller were designed respectively according to dynamic quality of motorized wheels vehicle driving system and characteristic requirements of dynamic and static performance of sliding mode. Using the double loop control strategy to take the advantages of sliding mode control and PID control, the control quality of driving system was improved. The simulation results show that the designed driving system can rapidly control the vehicle driving system and in-wheel motors and improve the characteristics of vehicle dynamics and in-wheel motors.
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Received: 16 July 2014
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2015, Vol. 36 
