Differential Steering Control of Four-Wheel Independent-Drive Electric Vehicles

Jie Tian, Jun Tong and Shi Luo
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Jie Tian: College of Automobile & Traffic Engineering, Nanjing Forestry University, Nanjing 210037, China
Jun Tong: College of Automobile & Traffic Engineering, Nanjing Forestry University, Nanjing 210037, China
Shi Luo: College of Automobile & Traffic Engineering, Jiangsu University, Zhengjiang 212013, China

Energies, 2018, vol. 11, issue 11, 1-18

Abstract: This paper investigates the skid steering of four-wheel independent-drive (4WID) electric vehicles (EV) and a differential steering of a 4WID EV with a steer-by-wire (SBW) system in case of steering failure. The dynamic models of skid steering vehicle (SSV) and differential steering vehicle (DSV) are established and the traditional front-wheel steering vehicle with neutral steering characteristics is selected as the reference model. On this basis, sideslip angle observer and two different sliding mode variable structure controllers for SSV and DSV are designed respectively. Co-simulation results of CarSim and Simulink show that the designed controller for DSV not only controls the yaw rate and sideslip angle of DSV to track those of the reference model exactly, but also ensures the robustness of the controlled system compared with the designed controller for SSV. And the differential driving torque needed to realize the differential steering is much smaller than that for skid steering, which indicates the possibility of the differential steering in case of steering failure.

Keywords: four-wheel independent-drive; electric vehicle; skid steering; differential steering; sliding mode variable structure control; robustness (search for similar items in EconPapers)
JEL-codes: Q Q0 Q4 Q40 Q41 Q42 Q43 Q47 Q48 Q49 (search for similar items in EconPapers)
Date: 2018
References: View references in EconPapers View complete reference list from CitEc
Citations: View citations in EconPapers (4)

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