| DISTURBANCE OBSERVER-BASED SIDESLIP ANGLE CONTROL
FOR IMPROVING CORNERING CHARACTERISTICS OF IN-WHEEL
MOTOR ELECTRIC VEHICLES |
| Hee Seong Kim1, Young Jin Hyun2, Kang Hyun Nam1 |
1Yeungnam University
2Hyundai Motor Company |
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| ABSTRACT |
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In this paper, a robust sideslip angle controller based on the direct yaw moment control (DYC) is proposed for
in-wheel motor electric vehicles. Many studies have demonstrated that the DYC is one of the effective methods to improve
vehicle maneuverability and stability. Previous approaches to achieve the DYC used differential braking and active steering
system. Not only that, the conventional control systems were commonly dependent on the feedback of the yaw rate. In contrast
to the traditional control schemes, however, this paper proposes a novel approach based on sideslip angle feedback without
controlling the yaw rate. This is mainly because if the vehicle sideslip angle is controlled properly, the intended sideslip angle
helps the vehicle to pass through the corner even at high speed. On the other hand, the vehicle may become unstable because
of the too large sideslip caused by unexpected yaw disturbances and model uncertainties of time-varying parameters. From
this aspect, disturbance observer (DOB) is employed to assure robust performance of the controller. The proposed controller
was realized in CarSim model described actual electric vehicle and verified through computer simulations. |
| Key Words:
Direct yaw moment control, Electric vehicle, Vehicle sideslip angle, Robust control, Yaw motion control,
Disturbance observer |
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Corresponding Author.
Kang Hyun Nam , Email. 
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