Based on the traditional four-wheel steering system, this paper combines the steer-by-wire system and four-wheel-independent driving technology to develop a new steer-by-wire four-wheel-independent steering and four-wheel-independent driving electric vehicle, which can realize four-wheel-independent steering and four-wheel-independent driving. Aiming at the steering actuator redundancy characteristics of the four-wheel-independent steering and four-wheel-independent driving vehicle, a hierarchical control method is proposed in this paper. In view of parameters perturbation of vehicle speed and tire cornering stiffness and the model uncertainty problem, the structure singular value μ is used to study the stability control of four-wheel-independent steering and four-wheel-independent driving vehicle under multiple perturbations in the upper layer, and verifies the advantages of μ controller by comparing it with H control and proportional-integral-derivative control. The lower layer is aimed at the redundancy of vehicle steering actuator, an on-line reconfigurable steering angle and driving force allocation control method based on tire force optimal allocation is proposed. This method can not only optimize the tire longitudinal force and lateral force distribution under normal conditions but also reconstruct the distribution control strategy on-line under fault conditions, realizing active fault tolerance. Finally, simulations by MATLAB/Simulink and hardware-in-the-loop experiments are conducted to verify the proposed control method. The simulation results show that the designed controller can maintain good stability under the conditions of model perturbation, separation pavement, and actuator failure.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Yaw and lateral stability control for four-wheel-independent steering and four-wheel-independent driving electric vehicle


    Contributors:
    Wang, Chunyan (author) / Heng, Bo (author) / Zhao, Wanzhong (author)


    Publication date :

    2020-02-01


    Size :

    14 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English





    Four-wheel independent steering control method for horizontal four-steering-wheel chassis vehicle

    QIN YUGUI / WANG KAIYUAN / LIU HUAN et al. | European Patent Office | 2023

    Free access

    Steering Mode Switch Control of Four-Wheel-Independent-Steering Electric Vehicle

    Chen, Xinbo / Luo, Fengmei / Hang, Peng et al. | British Library Conference Proceedings | 2019


    Four-wheel Independent Driving Electric Cart

    LEE WON SIK / LEE HYUN SEOK | European Patent Office | 2021

    Free access

    FOUR WHEEL INDEPENDENT STEERING APPARATUS

    European Patent Office | 2021

    Free access