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.


    Access

    Access via TIB

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Control performance of a road vehicle with four independent single-wheel electric motors and steer-by-wire system


    Contributors:


    Publication date :

    2012


    Size :

    17 Seiten, 14 Bilder, 29 Quellen




    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English





    Control performance of a road vehicle with four independent single-wheel electric motors and steer-by-wire system

    Weiskircher,T. / Mueller,S. / Univ.Kaiserslautern,DE | Automotive engineering | 2012



    Robust control for four-wheel-independent-steering electric vehicle with steer-by-wire system

    Hang, P. / Chen, X. / Fang, S. et al. | British Library Online Contents | 2017


    Robust control for four-wheel-independent-steering electric vehicle with steer-by-wire system

    Hang, Peng / Chen, Xinbo / Fang, Shude et al. | Online Contents | 2017