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Active Disturbance Rejection Control of Differential Drive Assist Steering for Electric Vehicles

Author

Listed:
  • Junnian Wang

    (State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun 130022, China)

  • Xiandong Wang

    (State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun 130022, China)

  • Zheng Luo

    (Motor Technical Center, Shanghai Automotive Industry Corporation, Shanghai 201804, China)

  • Francis Assadian

    (Department of Mechanical and Aerospace Engineering, University of California Davis, Davis, CA 95616, USA)

Abstract

The differential drive assist steering (DDAS) system makes full use of the advantages of independent control of wheel torque of electric vehicle driven by front in-wheel motors to achieve steering assistance and reduce the steering effort of the driver, as the electric power steering (EPS) system does. However, as an indirect steering assist technology that applies steering system assistance via differential drive, its linear control algorithm, like existing proportion integration differentiation (PID) controllers, cannot take the nonlinear characteristics of the tires’ dynamics into account which results in poor performance in road feeling and tracking accuracy. This paper introduces an active disturbance rejection control (ADRC) method into the control issue of the DDAS. First, the third-order ADRC controller of the DDAS is designed, and the simulated annealing algorithm is used to optimize the parameters of ADRC controller offline considering that the parameters of ADRC controller are too many and the parameter tuning is complex. Finally, the 11-DOF model of the electric vehicle driven by in-wheel motors is built, and the standard working conditions are selected for simulation and experimental verification. The results show that the ADRC controller designed in this paper can not only obviously reduce the steering wheel effort of the driver like PID controller, but also have better nonlinear control performance in tracking accuracy and smooth road feeling of the driver than the traditional PID controller.

Suggested Citation

  • Junnian Wang & Xiandong Wang & Zheng Luo & Francis Assadian, 2020. "Active Disturbance Rejection Control of Differential Drive Assist Steering for Electric Vehicles," Energies, MDPI, vol. 13(10), pages 1-22, May.
    • Handle: RePEc:gam:jeners:v:13:y:2020:i:10:p:2647-:d:361687
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    References listed on IDEAS

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    1. Jürgen Römer & Philipp Kautzmann & Michael Frey & Frank Gauterin, 2018. "Reducing Energy Demand Using Wheel-Individual Electric Drives to Substitute EPS-Systems," Energies, MDPI, vol. 11(1), pages 1-11, January.
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    Cited by:

    1. Francis F. Assadian, 2022. "Advanced Control and Estimation Concepts and New Hardware Topologies for Future Mobility," Energies, MDPI, vol. 15(4), pages 1-3, February.
    2. Pingyue Zhang & Jingyu Zhang & Yingshun Li & Yuhu Wu, 2020. "Nonlinear Active Disturbance Rejection Control of VGT-EGR System in Diesel Engines," Energies, MDPI, vol. 13(20), pages 1-20, October.
    3. Blanca Viviana Martínez & Javier Sanchis & Sergio García-Nieto & Miguel Martínez, 2021. "Tuning Rules for Active Disturbance Rejection Controllers via Multiobjective Optimization—A Guide for Parameters Computation Based on Robustness," Mathematics, MDPI, vol. 9(5), pages 1-34, March.
    4. Zenon Zwierzewicz & Lech Dorobczyński & Jarosław Artyszuk, 2021. "Design and Assessment of ADRC-Based Autopilot for Energy-Efficient Ship Steering," Energies, MDPI, vol. 14(23), pages 1-16, November.
    5. Ahmed Abdelhak Smadi & Farid Khoucha & Yassine Amirat & Abdeldjabar Benrabah & Mohamed Benbouzid, 2023. "Active Disturbance Rejection Control of an Interleaved High Gain DC-DC Boost Converter for Fuel Cell Applications," Energies, MDPI, vol. 16(3), pages 1-17, January.

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