Super-Twisting Second-Order Sliding Mode Control for Automated Drifting Equipped on Distributed Electric Vehicles Tsinghua Univ

Format:

Book

Conference/Event

Author/Creator:

Hou, Xiaohui, author.

Contributor:

Ji, Yuan

Liu, Weilong

Zhang, Junzhi

Conference Name:

WCX SAE World Congress Experience (2020-04-21 : Detroit, Michigan, United States)

Language:

English

Physical Description:

1 online resource cm

Place of Publication:

Warrendale, PA SAE International 2020

Summary:

In competitions, professional drivers intentionally perform drifting maneuvers by precisely operating the vehicle outside its stability limits to reduce lap time or avoid obstacles. Studying vehicle dynamics and control in extreme conditions could extend the usable state-space beyond handling limits and maximize the potential safety benefits of autonomous vehicles. Most studies of automated drifting control choose the rear-wheel drive vehicle as research object with oversimplifying assumptions and few focus on that of distributed drive electric vehicle. Compared with rear-wheel drive vehicle, distributed drive electric vehicle could conveniently adjust the torque of four wheels through coordinating hub-motors and braking system, and it has stronger grip and larger maximum drift angle to provide more possibilities for drift control. Hence it is of great importance to study automated drifting control of distributed drive electric vehicles. This paper proposes an automated drifting controller for distributed drive electric vehicle. Effects of nonlinear dynamics, friction coefficient's variation and longitudinal and lateral weight transfer are considered to achieve good accuracy over the broad range of conditions. First, the states and dynamics of distributed drive vehicle under drifting condition are studied. On this basis, path tracking algorithm is designed for the sake of pushing the vehicle to the driving and handling limit while keeping in the quasi-equilibrium state. Finally, nonlinear model inversion is used in concert with lower-level coordination control of motor driving, steering and braking systems, which considers different actuator characteristics to determine the execution intensity and time of different systems. Co-simulations are conducted between two commercial software, id est MATLAB/Simulink and CarSim to verify the effectiveness of proposed automated drifting controller for distributed drive electric vehicles

Notes:

Vendor supplied data

Publisher Number:

2020-01-0209

Access Restriction:

Restricted for use by site license