Roll stability control of in-wheel motors drive electric vehicle on potholed roads

IF 5.4 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Control Engineering Practice Pub Date : 2025-01-20 DOI:10.1016/j.conengprac.2025.106247

Jiantao Wang , Xiaolong Zhang , Yawei Dong , Shuaishuai Liu , Lipeng Zhang

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引用次数: 0

Abstract

The dynamics performance of in-wheel motors drive electric vehicles can be greatly improved by adjusting the torque and speed of the in-wheel motors, but the increased unsprung mass will bring greater dynamic load impacts on the body when the vehicle runs on potholed roads, which may make the vehicle roll when turning. To improve the roll stability, a collaborative control based on four-wheel differential drive and suspensions active adjustment is proposed. At first, a vehicle-road coupled dynamics model on a potholed road is developed. Next, the spatial stability evolution mechanism of the vehicle and the coupling effects of four-wheel differential drive and active suspensions control on the vehicle are analyzed. Then, a roll stability collaborative controller is constructed, which consists of a four-wheel differential sliding mode variable structure controller and an active suspension adaptive robust sliding mode controller. Finally, the control effects are verified by dynamics simulation and real vehicle test. The results show that the proposed collaborative control method can effectively control the vehicle roll and yaw motion, and improve the spatial stability of the vehicle. The research has potential theoretical and engineering value for improving the active safety of in-wheel motors drive electric vehicles on potholed roads.

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来源期刊

Control Engineering Practice 工程技术-工程：电子与电气

CiteScore

9.20

自引率

12.20%

发文量

183

审稿时长

44 days

期刊介绍： Control Engineering Practice strives to meet the needs of industrial practitioners and industrially related academics and researchers. It publishes papers which illustrate the direct application of control theory and its supporting tools in all possible areas of automation. As a result, the journal only contains papers which can be considered to have made significant contributions to the application of advanced control techniques. It is normally expected that practical results should be included, but where simulation only studies are available, it is necessary to demonstrate that the simulation model is representative of a genuine application. Strictly theoretical papers will find a more appropriate home in Control Engineering Practice''s sister publication, Automatica. It is also expected that papers are innovative with respect to the state of the art and are sufficiently detailed for a reader to be able to duplicate the main results of the paper (supplementary material, including datasets, tables, code and any relevant interactive material can be made available and downloaded from the website). The benefits of the presented methods must be made very clear and the new techniques must be compared and contrasted with results obtained using existing methods. Moreover, a thorough analysis of failures that may happen in the design process and implementation can also be part of the paper. The scope of Control Engineering Practice matches the activities of IFAC. Papers demonstrating the contribution of automation and control in improving the performance, quality, productivity, sustainability, resource and energy efficiency, and the manageability of systems and processes for the benefit of mankind and are relevant to industrial practitioners are most welcome.