Coordinated Control of DDAS and ESC Systems for Electric Vehicle Driven by In-wheel Motors

doi:10.3901/JME.2018.16.160

Abstract

Abstract: The torque of wheels is independent and controllable for in-wheel motor vehicles, which is conductive to the application of DDAS and ESC, but there is no relevant research on the coordinated control between them. Coordinated optimal control of the vehicle assist steering of steering wheel and stability is realized by re-distributing the torque of each in-wheel motors. Based on the side slip property of tire and the driving property of the in-wheel motor, the method of estimating the side slip angle and road adhesion coefficient is obtained. The stability control is established by SMVS. The power-assisted steering curve is designed and the correction factor of DDAS is introduced. Then a fuzzy control rule of the factor is designed according to different vehicle postures and working conditions, on this basis the procedure framework of whole coordinated control is provided. The co-simulation based on MATLAB and Carsim and road testing carry out and demonstrate that the controller can adjust the power-assisted factor timely under different conditions. Under the premise of ensuring the stability of the vehicle, the power-assisted function would be retained or not retained by choice, which ensures not only the stability of the whole vehicle but also the ease of steering as required in a reasonable way. The simulation and road testing results show that the coordinated control which is proposed first time can effectively balance the stability and assist steering performance of the vehicle.

Key words: coordinate control, DDAS, ESC, in-wheel motor vehicles

CLC Number:

U469

JIN Liqiang, TIAN Duanyang, LIU Yue. Coordinated Control of DDAS and ESC Systems for Electric Vehicle Driven by In-wheel Motors[J]. Journal of Mechanical Engineering, 2018, 54(16): 160-169.

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