Vehicle body slip angle, often referred as Beta, increases in a dangerous driving situation and should be controlled to a smaller value, although we need expensive optical sensors to measure it. This paper proposes to estimate it accurately with a simple linear observer, which is robust to the model variation and works well even in non-linear region of the vehicle motion. With the introduction of an experimental 4-wheel-motored EV, this paper proposes to stabilize the motion of EV using the great advantages of a motor as an actuator. Finally, this paper introduces the decoupling control of Active Steering Control (AFS) and Direct Yaw Moment Control (DYC) as a way of controlling Beta and the yaw rate Gamma at the same time, to stabilize the lateral motion of the EV. Numerical simulations and experimental results are also shown.
Observer design of drift angle for future vehicle control and experimental evaluation using the four-motored electric vehicle
Beobachtungssensor zur Erfassung des Gierwinkels für die künftige Fahrzeugssteuerung und experimentelle Erfassung mit Hilfe eines von 4 Motoren angetriebenen Fahrzeugs
2003
10 Seiten, 15 Bilder, 5 Quellen
Aufsatz (Konferenz)
Datenträger
Englisch
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