This article presents a motion controller for a road vehicle equipped with a steer by-wire system and four independent electric rim mounted drives. The motion controller separates the control law from the specific actuator setup by the usage of virtual global control variables acting on the vehicle centre of gravity. A control allocation algorithm distributes the virtual control variables to the available actuators. An approximation of the real actuator dynamics is used to analyse the performance of different motion controller types in the linear and nonlinear driving regions. In addition a vehicle state observer consisting of a traction force observer and an unscented Kaiman filter is discussed to analyse the control behaviour in the case of a real sensor setup.
Control performance of a road vehicle with four independent single-wheel electric motors and steer-by-wire system
2012
17 Seiten, 14 Bilder, 29 Quellen
Aufsatz (Konferenz)
Englisch
Taylor & Francis Verlag | 2012
|Robust control for four-wheel-independent-steering electric vehicle with steer-by-wire system
British Library Online Contents | 2017
|Robust control for four-wheel-independent-steering electric vehicle with steer-by-wire system
Online Contents | 2017
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