Read the full-text of this article for free

Title: Integral sliding mode for the yaw moment control of four-wheel-drive fully electric vehicles with in-wheel motors

Authors: Tommaso Goggia; Aldo Sorniotti; Leonardo De Novellis; Antonella Ferrara; Andrew Pennycott; Patrick Gruber; Ilhan Yunus

Addresses: Faculty of Engineering and Physical Sciences, University of Surrey, Guildford, Surrey, GU2 7XH, UK ' Faculty of Engineering and Physical Sciences, University of Surrey, Guildford, Surrey, GU2 7XH, UK ' Faculty of Engineering and Physical Sciences, University of Surrey, Guildford, Surrey, GU2 7XH, UK ' Department of Electrical, Computer and Biomedical Engineering (ECBE) University of Pavia, Via Ferrata 5, 27100 Pavia, Italy ' Faculty of Engineering and Physical Sciences, University of Surrey, Guildford, Surrey, GU2 7XH, UK ' Faculty of Engineering and Physical Sciences, University of Surrey, Guildford, Surrey, GU2 7XH, UK ' Faculty of Engineering and Physical Sciences, University of Surrey, Guildford, Surrey, GU2 7XH, UK

Abstract: Fully electric vehicles with individually controlled motor drives allow the continuous actuation of direct yaw moment control in order to enhance vehicle safety and the handling performance by achieving a set of reference understeer characteristics. For applications on real vehicles, the control structure must provide ease of implementation, robustness and tunability. This paper discusses an integral sliding mode formulation for torque-vectoring control, which fulfils these requirements. The control structure is presented with reference to the vehicle cornering performance objectives, the motivation for integral sliding mode control and the selection of the controller parameters for stability and chattering avoidance. Six different manoeuvres are simulated for an in-wheel electric motor drivetrain layout. The results show that integral sliding mode control has significant benefits over a more conventional control method based on a combined feedforward and proportional-integral-derivative controller. The integral sliding mode controller does not require fine tuning of a feedforward control action and is characterised by superior tracking performance and disturbance rejection properties.

Keywords: integral SMC; sliding mode control; torque vectoring control; yaw rate control; tracking performance; disturbance rejection; electric vehicles; in-wheel motors; yaw moment control; four-wheel-drive vehicles; 4WD vehicles; vehicle safety; handling performance; vehicle stability; chattering avoidance; vehicle vibration; simulation; drivetrain layout.

DOI: 10.1504/IJPT.2015.073787

International Journal of Powertrains, 2015 Vol.4 No.4, pp.388 - 419

Received: 28 Sep 2014
Accepted: 02 Feb 2015
Published online: 22 Dec 2015 *