Vehicle Motion Control Method Using Yaw-moment Observer and Lateral Force Observer for Electric Vehicle

• Yamauchi Yuya

  Yokohama National University

• Fujimoto Hiroshi

  The University of Tokyo

Bibliographic Information

Other Title

• 電気自動車におけるヨーモーメントオブザーバとラテラルフォースオブザーバを用いた車両姿勢制御法
• デンキ ジドウシャ ニ オケル ヨーモーメントオブザーバ ト ラテラルフォースオブザーバ オ モチイタ シャリョウ シセイ セイギョホウ

Abstract

The motion stability of a vehicle depends on yaw-rate and side-slip angle. These two variables affect each other, and therefore, we performed decoupling control of yaw-rate and side-slip angle of an electric vehicle (EV) with active steering and torque difference between left and right in-wheel motors. However the robustness of decoupling control is fragile for road condition. Hence, we propose lateral force observer (LFO) that is highly robust to variations in the cornering stiffness. LFO and yaw-moment observer (YMO) are used in an EV with an active steering and two in-wheel motors. In this paper, we compare the robustness of the proposed method and that of the decoupling-control method by means of an experiment. The results show that the proposed method delivers a better performance than that of the conventional method.

Journal

• IEEJ Transactions on Industry Applications

  IEEJ Transactions on Industry Applications 130 (8), 939-944, 2010

  The Institute of Electrical Engineers of Japan

Keywords

• electric vehicle
• yaw-rate control
• side-slip angle control
• active steering
• disturbance obserber
• robustness

Details

• CRID: 1390282679635447808
• NII Article ID: 10026497904
• NII Book ID: AN10012320
• DOI: 10.1541/ieejias.130.939
• BIBCODE: 2010IJTIA.130..939Y
• ISSN: 13488163
• ISSN: 09136339
• NDL BIB ID: 10765849
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I10765849
• Web Site: http://www.jstage.jst.go.jp/article/ieejias/130/8/130_8_939/_pdf
• Text Lang: ja
• Data Source:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
  • KAKEN
• Abstract License Flag: Disallowed