Ma Li, Cheng Chang, Guo Jianfeng, Shi Binhua, Ding Shihong, Mei Keqi
School of Electrical and Information Engineering, Jiangsu University, Zhenjiang 212013, China.
Zhejiang JIALIFT Warehouse Equipment Co., Ltd., Huzhou 313104, China.
Math Biosci Eng. 2023 Jun 9;20(7):13334-13355. doi: 10.3934/mbe.2023594.
The direct yaw-moment control (DYC) system consisting of an upper controller and a lower controller is developed on the basis of sliding mode theory and adaptive control technique. First, the two-degree of freedom (2-DOF) model is utilized to calculate the ideal yaw rate. Then, the seven-degree of freedom (7-DOF) electric vehicle model is given to design the upper controller by employing first-order sliding mode (FOSM) method, which is constructed to guarantee the actual yaw rate to approach the ideal value and gain the additional yaw moment. On this basis, an adaptive first-order sliding mode (AFOSM) controller is designed to enhance the system robustness against probable modelling error and parametric uncertainties. In order to mitigate the chattering issue present in the FOSM controller, a novel adaptive super-twisting sliding mode (ASTSM) controller is proposed for the design of DYC. Furthermore, the lower controller converting the additional yaw moment into driving or braking torque acting on each wheel is also developed. Finally, The simulation results indicate that the proposed DYC system can improve the electric vehicle driving stability effectively.
基于滑模理论和自适应控制技术，开发了一种由上层控制器和下层控制器组成的直接横摆力矩控制（DYC）系统。首先，利用二自由度（2-DOF）模型计算理想横摆率。然后，给出七自由度（7-DOF）电动汽车模型，采用一阶滑模（FOSM）方法设计上层控制器，该控制器的构建旨在保证实际横摆率接近理想值并获得附加横摆力矩。在此基础上，设计了一种自适应一阶滑模（AFOSM）控制器，以增强系统对可能的建模误差和参数不确定性的鲁棒性。为了减轻FOSM控制器中存在的抖振问题，提出了一种新颖的自适应超扭曲滑模（ASTSM）控制器用于DYC的设计。此外，还开发了下层控制器，该控制器将附加横摆力矩转换为作用在每个车轮上的驱动或制动力矩。最后，仿真结果表明，所提出的DYC系统能够有效地提高电动汽车的行驶稳定性。
