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Performance evaluation of integrated control of direct yaw moment and slip ratio control for electric vehicle with rear in-wheel motors on split-mu road

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Abstract

Three different torque control algorithms are compared and evaluated for rear wheel drive electric vehicle (EV COMS) with in-wheel motors on split-mu road. The performance of direct yaw moment control, slip ratio control and integral control of both direct yaw moment and slip ratio control are studied by applying these control algorithms to electric vehicle for a straight motion on a split-mu road. The split-mu road disturbs the straight motion and vehicle will deviate from straight path with some error. In simulation, driver model is applied and driver effort of steering wheel angle eliminates this error in all the three cases. The simulation results show that the integral torque control schemes exhibit better performance as compared to direct yaw moment control and slip ratio control as it needs very little driver effort for vehicle straight motion. The three torque control schemes are also compared experimentally on a split-mu road using EV COMS. The desired yaw rate is set to zero in the software and the vehicle trajectory with reference to the desired straight path is recorded and compared. The integral control showed little deviation of test vehicle yaw rate from the desired zero yaw rate as compared to the other two control algorithms.

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Abbreviations

T m :

output motor torque in the motor model

K t :

motor constant

R m :

motor resistance

L m :

motor inductance

τ :

motor time delay

T m_com :

motor torque command

θ sw :

steering wheel angle

V vehicle :

longitudinal vehicle speed

V w :

wheel speed

γ a :

vehicle yaw rate

γ des :

desired yaw rate

r :

wheel radius

λ :

actual slip ratio

λ opt :

optimal slip ratio

F xdes :

desired longitudinal force

M zdes :

desired yaw moment

T RL , T RR :

wheel torque command at the rear left wheel and rear right wheel

m :

vehicle mass

I z :

moment of inertia of the vehicle about yaw axis

l f , l r :

distance from CG to front wheel, distance from CG to rear wheel

t :

vehicle tread

L :

wheelbase

K P , K I , K D :

PID control gains

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Authors and Affiliations

  1. CIM & Robotics Lab., Hanyang University, Gyeonggi, 15588, Korea

    C. J. Kim

  2. Department of Mechatronics Engineering, Hanyang University, Gyeonggi, 15588, Korea

    A. A. Mian, S. H. Back & H. B. Jang

  3. Department of Mechanical Engineering, Hanyang University, Gyeonggi, 15588, Korea

    S. H. Kim

  4. Division for Applied Robot Technology, Korea Institute of Industrial Technology, Gyeonggi, 15588, Korea

    J. H. Jang

  5. Department of Robot Engineering, Hanyang University, Gyeonggi, 15588, Korea

    C. S. Han

Authors
  1. C. J. Kim
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  2. A. A. Mian
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  3. S. H. Kim
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  4. S. H. Back
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  5. H. B. Jang
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  6. J. H. Jang
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  7. C. S. Han
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Corresponding author

Correspondence to C. S. Han.

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Kim, C.J., Mian, A.A., Kim, S.H. et al. Performance evaluation of integrated control of direct yaw moment and slip ratio control for electric vehicle with rear in-wheel motors on split-mu road. Int.J Automot. Technol. 16, 939–946 (2015). https://doi.org/10.1007/s12239-015-0096-0

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  • DOI: https://doi.org/10.1007/s12239-015-0096-0

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