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| Direct yaw moment control of electric vehicle based on
nonsmooth control technique |
| 1. School of Science, Jiangsu University of Science and Technology, Zhenjiang, Jiangsu 212003, China; 2. School of Electrical and Information Engineering, Jiangsu University, Zhenjiang, Jiangsu 212013, China; 3. School of Automotive and Traffic Engineering, Jiangsu University, Zhenjiang, Jiangsu 212013, China |
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Abstract Based on the nonsmooth control technology, a nonsmooth direct yaw moment control strategy was proposed for the inwheel motor drive electric vehicle with seven degrees of freedom and the second degrees of freedom. The upper controller was designed based on the yaw torque control by estimating the centroid side angle of mass center and the angular speed of vehicle directly by the sensor. The yaw moment was distributed by the lower controller, and the yaw angular velocity and the centroid side angle of the system can track the expected value respectively. The results show that in the presence of lumped disturbances of external disturbances, unmodelled dynamics and system uncertainties, the nonsmooth direct yaw moment controller has strong robustness to improve the stability of electric vehicle under extreme driving conditions. Under the continuity condition, the nonsmooth controller can provide the best control performance.
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2018, Vol. 39 
