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.


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    Title :

    Observer design of drift angle for future vehicle control and experimental evaluation using the four-motored electric vehicle


    Additional title:

    Beobachtungssensor zur Erfassung des Gierwinkels für die künftige Fahrzeugssteuerung und experimentelle Erfassung mit Hilfe eines von 4 Motoren angetriebenen Fahrzeugs


    Contributors:
    Inoue, T. (author) / Hori, Y. (author)


    Publication date :

    2003


    Size :

    10 Seiten, 15 Bilder, 5 Quellen


    Type of media :

    Conference paper


    Type of material :

    Storage medium


    Language :

    English




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