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Differential Steering Control of Four-Wheel Independent-Drive Electric Vehicles

Author

Listed:
  • Jie Tian

    (College of Automobile & Traffic Engineering, Nanjing Forestry University, Nanjing 210037, China)

  • Jun Tong

    (College of Automobile & Traffic Engineering, Nanjing Forestry University, Nanjing 210037, China)

  • Shi Luo

    (College of Automobile & Traffic Engineering, Jiangsu University, Zhengjiang 212013, China)

Abstract

This paper investigates the skid steering of four-wheel independent-drive (4WID) electric vehicles (EV) and a differential steering of a 4WID EV with a steer-by-wire (SBW) system in case of steering failure. The dynamic models of skid steering vehicle (SSV) and differential steering vehicle (DSV) are established and the traditional front-wheel steering vehicle with neutral steering characteristics is selected as the reference model. On this basis, sideslip angle observer and two different sliding mode variable structure controllers for SSV and DSV are designed respectively. Co-simulation results of CarSim and Simulink show that the designed controller for DSV not only controls the yaw rate and sideslip angle of DSV to track those of the reference model exactly, but also ensures the robustness of the controlled system compared with the designed controller for SSV. And the differential driving torque needed to realize the differential steering is much smaller than that for skid steering, which indicates the possibility of the differential steering in case of steering failure.

Suggested Citation

  • Jie Tian & Jun Tong & Shi Luo, 2018. "Differential Steering Control of Four-Wheel Independent-Drive Electric Vehicles," Energies, MDPI, vol. 11(11), pages 1-18, October.
    • Handle: RePEc:gam:jeners:v:11:y:2018:i:11:p:2892-:d:178023
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    References listed on IDEAS

    as
    1. Chuanyang Sun & Xin Zhang & Lihe Xi & Ying Tian, 2018. "Design of a Path-Tracking Steering Controller for Autonomous Vehicles," Energies, MDPI, vol. 11(6), pages 1-17, June.
    2. Li Zhai & Rufei Hou & Tianmin Sun & Steven Kavuma, 2018. "Continuous Steering Stability Control Based on an Energy-Saving Torque Distribution Algorithm for a Four in-Wheel-Motor Independent-Drive Electric Vehicle," Energies, MDPI, vol. 11(2), pages 1-19, February.
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    Cited by:

    1. Thanh Vo-Duy & Minh C. Ta & Bảo-Huy Nguyễn & João Pedro F. Trovão, 2020. "Experimental Platform for Evaluation of On-Board Real-Time Motion Controllers for Electric Vehicles," Energies, MDPI, vol. 13(23), pages 1-28, December.
    2. SongSong Sun, 2020. "A new stress field intensity model and its application in component high cycle fatigue research," PLOS ONE, Public Library of Science, vol. 15(7), pages 1-20, July.
    3. Zhun Cheng & Huadong Zhou & Zhixiong Lu, 2022. "A Novel 10-Parameter Motor Efficiency Model Based on I-SA and Its Comparative Application of Energy Utilization Efficiency in Different Driving Modes for Electric Tractor," Agriculture, MDPI, vol. 12(3), pages 1-20, March.
    4. Zhun Cheng & Zhixiong Lu, 2022. "Regression-Based Correction and I-PSO-Based Optimization of HMCVT’s Speed Regulating Characteristics for Agricultural Machinery," Agriculture, MDPI, vol. 12(5), pages 1-18, April.

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