Road Surface Adaptive Stationary Steering Coordinated Control of Four-Wheel Hub Motor Vehicles Wuhan University of Technology, School of Automobile Enginee

Format:

Book

Conference/Event

Author/Creator:

Huang, Bin, author.

Contributor:

Cui, Kangyu

Ma, Minrui

Zhang, Zeyang

Conference Name:

Automotive Technical Papers (2025-01-01 : Warrendale, Pennsylvania, United States)

Language:

English

Physical Description:

1 online resource cm

Place of Publication:

Warrendale, PA SAE International 2025

Summary:

The wheel hub motordriven electric vehicle, characterized by its independently controllable wheels, exhibits high torque output at low speeds and superior dynamic response performance, enabling in-place steering capabilities. This study focuses on the control mechanism and dynamic model of the wheel hub motor vehicle's in-place steering. By employing differential torque control, it generates the yaw moment needed to overcome steering resistance and produce yaw motion around the steering center.First, the dynamic model for in-place steering is established, exploring the various stages of tire motion and the steering process, including the start-up, elastic deformation, lateral slip, and steady-state yaw. In terms of control strategy, an adaptive in-place steering control method is designed, utilizing a BP neural network combined with a PID control algorithm to track the desired yaw rate. Additionally, a control strategy based on tire/road adhesion ellipse theory is developed to enhance vehicle handling stability under different road conditions.The simulation results indicate that the control strategy effectively optimizes the vehicle's steering response, reducing the center of gravity displacement by approximately 50% and 75% along the y-axis and x-axis, respectively, under high-friction conditions, while maintaining the maximum tracking error for the desired yaw rate at around 0.5%. Under low-friction conditions, the center of gravity displacement along the y-axis decreases from a maximum of 0.32 m to 0.19 m, with the tracking error for the desired yaw rate stabilizing at approximately 0.6%. This ensures the vehicle's stability and safety during extreme steering maneuvers. This research provides a theoretical foundation and practical reference for the design of control systems in future distributed drive electric vehicles

Notes:

Vendor supplied data

Publisher Number:

2025-01-5031

Access Restriction:

Restricted for use by site license