Abstract
The steering performance of the distributed drive electric vehicle (DDEV) is an important research topic. Generally, DDEV works under various operating status with high switching frequency, while the conventional stability controller is only suitable for one special operating status. In addition, the lateral force saturation or deficiency always leads to the unstable steering performance. To achieve the stable steering performance under various operating status for DDEV, a novel weighted multiple model control system (WMMCS) is proposed in this paper. The proposed WMMCS consists of three parts, including a submodel set (SMS), a subcontroller set (SCS) and a weighted fusion unit (WFU). The SMS classifies the vehicle operating status into four typical operating modes and analyses their operating characteristics. The SCS designs the corresponding model predictive controller for each typical operating mode to realize the optimal four-wheel steering; then, the lateral force saturation or deficiency problem can be solved. The WFU analyses the matching degree between the actual state of DDEV and each submodel by the fuzzy logic; then, the control output of the WMMCS is calculated by the weighted signal of each subcontroller. The simulation is carried on the MATLAB, and the results show that the stable steering performance and smooth operating switching performance of DDEV can be achieved efficiently by the proposed WMMCS.
Similar content being viewed by others
References
Gasbaoui B, Nasri A (2012) A novel 4wd electric vehicle control strategy based on direct torque control space vector modulation technique. Nonlinear Eng 14(3):236–242
Zhang X, Gohlich D, Li J (2017) Energy-efficient toque allocation design of traction and regenerative braking for distributed drive electric vehicles. IEEE Trans Veh Technol 67(1):285–295
Shi K, Yuan XF, Liu L (2018) Model predictive controller-based multi-model control system for longitudinal stability of distributed drive electric vehicle. ISA Trans 72:44–55
Shi K, Yuan XF, Huang GM (2018) MPC-based compensation control system for the yaw stability of distributed drive electric vehicle. Int J Syst Sci 49(8):1795–1808
Cairano SD, Tseng HE, Bernardini D, Bemporad A (2013) Vehicle yaw stability control by coordinated active front steering and differential braking in the tire sideslip angles domain. IEEE Trans Control Syst Technol 24(4):1236–1248
Marlene K, Martin H, Josef Z (2009) Improving vehicle dynamics by active rear wheel steering systems. Veh Syst Dyn 47(12):1551–1564
Nenggen D, Saied T (2010) An adaptive integrated algorithm for active front steering and direct yaw moment control based on direct Lyapunov method. Veh Syst Dyn 48(10):1193–1213
Ma ZJ, Zhan CS (2015) System stability and control strategy of electric power steering. In: International conference on logistics engineering, vol 117, pp 303–306
Poussot V, Sename O, Dugard L, Savaresi SM (2011) Vehicle dynamic stability improvements through gain-scheduled steering and braking control. Veh Syst Dyn 49(10):1597–1621
Yim S (2017) Coordinated control of ESC and AFS with adaptive algorithms. Int J Automot Technol 18(2):271–277
Ma X, Wong PK, Zhao J, Xie Z (2018) Cornering stability control for vehicles with active front steering system using T–S fuzzy based sliding mode control strategy. Mech Syst Sig Process 125(15):347–364
Fukao T, Miyasaka S, Mori K, Adachi N (2004) Active steering systems based on model reference adaptive nonlinear control. Veh Syst Dyn 42(5):301–318
Falcone P, Borrelli F, Tseng HE (2010) Linear time varying model predictive control and its application to active steering systems: stability analysis and experimental validation. Int J Robust Nonlinear Control 18(8):862–875
Wu JY, Tang HJ, Li SY, Zheng SB (2007) Integrated control system design of active front wheel steering and four wheel torque to improve vehicle handling and stability. Int J Automot Technol 8(3):299–308
Kapania NR (2015) Design of a feed back-feed forward steering controller for accurate path tracking and stability at the limits of handling. Veh Syst Dyn 53(12):1687–1704
Ren B, Chen H, Zhao H, Yuan L (2015) MPC-based yaw stability control in in-wheel-motored EV via active front steering and motor torque distribution. Mechatronics 38:103–114
Rajamani R (2006) Vehicle dynamics and control, 1st edn. Mechanical engineering series. Springer, Berlin
Yuan L, Zhao H, Chen H, Ren B (2016) Nonlinear MPC-based slip control for electric vehicles with vehicle safety constraints. Mechatronics 38:1–15
Pacejka HB (2005) Tyre and vehicle dynamics, 2nd edn. Elsevier, London
Nam K (2015) Application of novel lateral tire force sensors to vehicle parameter estimation of electric vehicles. Sensors 15(11):28385–28401
Davari MM, Jerrelind J, Trigell SA (2017) Energy efficiency analyses of a vehicle in modal and transient driving cycles including longitudinal and vertical dynamics. Transp Res Part D Tans Environ 53:263–275
Nenggen D, Saied T (2010) An adaptive integrated algorithm for active front steering and direct yaw moment control based on direct Lyapunov method. Veh Syst Dyn 48(10):1193–1213
Alipouri Y, Alipour H (2016) Attenuating noise effect on yaw rate control of independent drive electric vehicle using minimum variance controller. Nonlinear Dyn 87(3):1637–1651
Jin XJ, Yin G (2015) Estimation of lateral tire-road forces and sideslip angle for electric vehicles using interacting multiple model filter approach. J Frankl Inst 352(2):686–707
Olson BJ, Shaw SW, Stpn G (2003) Nonlinear dynamics of vehicle traction. Veh Syst Dyn 40(6):377–399
Porfirio CR, Neto EA, Odloak D (2003) Multi-model predictive control of an industrial c3/c4 splitter. Control Eng Pract 11(7):765–779
Yang H, He LJ, Zhang ZY (2016) Multiple-model predictive control for component content of cepr/nd counter current extraction process. Inf Sci 360:244–255
Villarroel F, Espinoza JR, Rojas CA, Rodriguez J, Rivera M (2013) Multiobjective switching state selector for finite-states model predictive control based on fuzzy decision making in a matrix converter. IEEE Trans Ind Electron 60(2):589–599
Nandola NN, Bhartiya S (2008) A multiple model approach for predictive control of nonlinear hybrid systems. J Process Control 18:131–148
Chun K, Sunwoo M (2005) Wheel slip tracking using moving sliding surface. Proc Inst Mech Eng D J Automob Eng 219(1):31–41
Yoo DK, Wang L (2007) Model based wheel slip control via constrained optimal algorithm. In: 16th IEEE international conference on control applications, pp 455–460
Zavala VM, Biegler LT (2009) The advanced-step NMPC controller: optimality, stability and robustness. Automatica 45(1):86–93
Molina D, Lu C, Sherman V, Harley R (2013) Model predictive and genetic algorithm based optimization of residential temperature control in the presence of time-varying electricity prices. IEEE Trans Ind Appl 49(3):1137–1145
Chen X, Li Z, Yang J, Shao Z, Zhu L (2008) Nested tabu search (TS) and sequential quadratic programming (SQP) method, combined with adaptive model reformulation for heat exchanger network synthesis (HENS). Ind Eng Chem Res 47(7):2320–2330
Zadeh LA (2002) Fuzzy logic = computing with words. IEEE Trans Fuzzy Syst 4(2):103–111
Acknowledgements
This work was supported in part by National Key R\({ \& }\)D Program of China (No. 2017YFB1300900), National Natural Science Foundation of China (No. 61573133), Key Research and Development Program of Hunan Province of China (No. 2018GK2031).
Author information
Authors and Affiliations
Corresponding author
Additional information
Technical Editor: Victor Juliano De Negri, D.Eng.
Publisher's Note
Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.
Rights and permissions
About this article
Cite this article
Shi, K., Yuan, X., Huang, G. et al. Weighted multiple model control system for the stable steering performance of distributed drive electric vehicle. J Braz. Soc. Mech. Sci. Eng. 41, 201 (2019). https://doi.org/10.1007/s40430-019-1696-9
Received:
Accepted:
Published:
DOI: https://doi.org/10.1007/s40430-019-1696-9