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Yaw stability control through independent driving torque control of mid and rear wheels of an articulated bus
Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering ( IF 1.7 ) Pub Date : 2020-06-03 , DOI: 10.1177/0954407020919539
Wang Wenwei 1 , Zhang Wei 1 , Zhang Hanyu 1 , Cao Wanke 1
Affiliation  

This paper describes a novel yaw stability control strategy for a four-wheel-independent-drive electric articulated bus with four motors at the middle and rear wheels. The proposed control strategy uses a hierarchical control architecture. In the upper layer, a 3 degree-of-freedom reference model is established to obtain the desired vehicle states and the desired yaw moments of the front and rear compartments are determined by means of sliding mode control, respectively. The lower layer distributes differential longitudinal forces according to the desired yaw moments based on quadratic programming theory. The tire utilization rate is used as the optimization goal considering the actual constraints. To verify performance, three test cases are designed on the dSPACE-ASM simulation platform. The test results show the proposed control strategy can improve the yaw stability and the trajectory following performance of the bus under different driving conditions.

中文翻译:

铰接客车中后轮独立驱动力矩控制横摆稳定性控制

本文介绍了一种新型的四轮独立驱动电动铰接客车的横摆稳定性控制策略,该客车中后轮有四个电机。所提出的控制策略使用分层控制架构。在上层,建立3自由度参考模型以获得所需的车辆状态,并分别通过滑模控制的方式确定前后舱的所需横摆力矩。下层根据基于二次规划理论的所需偏航力矩分配不同的纵向力。轮胎利用率作为考虑实际约束的优化目标。为了验证性能,在 dSPACE-ASM 仿真平台上设计了三个测试用例。
更新日期:2020-06-03
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