| ROBUST YAW STABILITY CONTROL FOR ELECTRIC VEHICLES BASED ON ACTIVE FRONT STEERING CONTROL THROUGH A STEER-BY-WIRE SYSTEM |
| K. NAM, H. FUJIMOTO, Y. HORI |
| The University of Tokyo |
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| ABSTRACT |
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A robust yaw stability control design based on active front steering control is proposed for in-wheel-motored electric vehicles with a Steer-by-Wire (SbW) system. The proposed control system consists of an inner-loop controller (referred to in this paper as the steering angle-disturbance observer (SA-DOB), which rejects an input steering disturbance by feeding a compensation steering angle) and an outer-loop tracking controller (i.e., a PI-type tracking controller) to achieve control performance and stability. Because the model uncertainties, which include unmodeled high frequency dynamics and parameter variations, occur in a wide range of driving situations, a robust control design method is applied to the control system to simultaneously guarantee robust stability and robust performance of the control system. The proposed control algorithm was implemented in a CaSim model, which was designed to describe actual in-wheel-motored electric vehicles. The control performances of the proposed yaw stability control system are verified through computer simulations and experimental results using an experimental electric vehicle. |
| Key Words:
Active front steering control, Electric vehicles, Robust control, Steering angle-disturbance observer (SADOB), Steer-by-Wire (SbW) |
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