Experimental Study of Electric Vehicle Yaw Rate Tracking Control Based on Differential Steering
This paper investigates the experimental study of differential steering control of a four-wheel independently driven (FWID) electric vehicle (EV) based on the steer-by-wire (SBW) system. As each wheel of FWID vehicle can be independently driven, differential steering is realized by applying differen...
Saved in:
| Main Authors: | , , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Wiley
2021-01-01
|
| Series: | Journal of Advanced Transportation |
| Online Access: | http://dx.doi.org/10.1155/2021/6668091 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1850222381126123520 |
|---|---|
| author | Cong Li Yun-Feng Xie Gang Wang Su-Qi Liu Bing Kuang Hui Jing |
| author_facet | Cong Li Yun-Feng Xie Gang Wang Su-Qi Liu Bing Kuang Hui Jing |
| author_sort | Cong Li |
| collection | DOAJ |
| description | This paper investigates the experimental study of differential steering control of a four-wheel independently driven (FWID) electric vehicle (EV) based on the steer-by-wire (SBW) system. As each wheel of FWID vehicle can be independently driven, differential steering is realized by applying different driven torques to the front-two wheels. Firstly, the principle of the differential steering is analyzed based on the SBW system. When the differential steering is activated, the driver’s steering request is sent to the vehicle’s ECU. Then, the ECU gives different control signals to the front-left and front-right wheels, generating an external steering force on the steering components. The external steering force pushes the steering components to turn corresponding to the driver’s request. Secondly, to test the feasibility of differential steering, a FWID EV is assembled and the vehicle is equipped with four independently driven in-wheel motors. The corresponding control system is designed. Finally, the field test of the vehicle based on the proposed differential steering control strategy is performed. In the experiment, the fixed yaw rate tracking and varied yaw rate tracking maneuvers are employed. In the fixed yaw rate tracking, the vehicle can track the desired yaw rate well with differential steering. In addition, the vehicle can track the varied yaw rate with proposed differential steering. The test results confirm the feasibility and effectiveness of the differential steering. By using the differential steering, a backup steering is established without additional components; thus, the costs can be reduced and the reliability of the vehicle steering system can be enhanced, significantly. |
| format | Article |
| id | doaj-art-6f6b6bc6d1bf4b248d0d9ab383769178 |
| institution | OA Journals |
| issn | 0197-6729 2042-3195 |
| language | English |
| publishDate | 2021-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Advanced Transportation |
| spelling | doaj-art-6f6b6bc6d1bf4b248d0d9ab3837691782025-08-20T02:06:22ZengWileyJournal of Advanced Transportation0197-67292042-31952021-01-01202110.1155/2021/66680916668091Experimental Study of Electric Vehicle Yaw Rate Tracking Control Based on Differential SteeringCong Li0Yun-Feng Xie1Gang Wang2Su-Qi Liu3Bing Kuang4Hui Jing5Guilin University of Aerospace Technology, Guilin 541004, ChinaGuilin University of Aerospace Technology, Guilin 541004, ChinaGuilin University of Electronic Technology, Guilin 541004, ChinaGuilin University of Electronic Technology, Guilin 541004, ChinaGuilin University of Electronic Technology, Guilin 541004, ChinaGuilin University of Electronic Technology, Guilin 541004, ChinaThis paper investigates the experimental study of differential steering control of a four-wheel independently driven (FWID) electric vehicle (EV) based on the steer-by-wire (SBW) system. As each wheel of FWID vehicle can be independently driven, differential steering is realized by applying different driven torques to the front-two wheels. Firstly, the principle of the differential steering is analyzed based on the SBW system. When the differential steering is activated, the driver’s steering request is sent to the vehicle’s ECU. Then, the ECU gives different control signals to the front-left and front-right wheels, generating an external steering force on the steering components. The external steering force pushes the steering components to turn corresponding to the driver’s request. Secondly, to test the feasibility of differential steering, a FWID EV is assembled and the vehicle is equipped with four independently driven in-wheel motors. The corresponding control system is designed. Finally, the field test of the vehicle based on the proposed differential steering control strategy is performed. In the experiment, the fixed yaw rate tracking and varied yaw rate tracking maneuvers are employed. In the fixed yaw rate tracking, the vehicle can track the desired yaw rate well with differential steering. In addition, the vehicle can track the varied yaw rate with proposed differential steering. The test results confirm the feasibility and effectiveness of the differential steering. By using the differential steering, a backup steering is established without additional components; thus, the costs can be reduced and the reliability of the vehicle steering system can be enhanced, significantly.http://dx.doi.org/10.1155/2021/6668091 |
| spellingShingle | Cong Li Yun-Feng Xie Gang Wang Su-Qi Liu Bing Kuang Hui Jing Experimental Study of Electric Vehicle Yaw Rate Tracking Control Based on Differential Steering Journal of Advanced Transportation |
| title | Experimental Study of Electric Vehicle Yaw Rate Tracking Control Based on Differential Steering |
| title_full | Experimental Study of Electric Vehicle Yaw Rate Tracking Control Based on Differential Steering |
| title_fullStr | Experimental Study of Electric Vehicle Yaw Rate Tracking Control Based on Differential Steering |
| title_full_unstemmed | Experimental Study of Electric Vehicle Yaw Rate Tracking Control Based on Differential Steering |
| title_short | Experimental Study of Electric Vehicle Yaw Rate Tracking Control Based on Differential Steering |
| title_sort | experimental study of electric vehicle yaw rate tracking control based on differential steering |
| url | http://dx.doi.org/10.1155/2021/6668091 |
| work_keys_str_mv | AT congli experimentalstudyofelectricvehicleyawratetrackingcontrolbasedondifferentialsteering AT yunfengxie experimentalstudyofelectricvehicleyawratetrackingcontrolbasedondifferentialsteering AT gangwang experimentalstudyofelectricvehicleyawratetrackingcontrolbasedondifferentialsteering AT suqiliu experimentalstudyofelectricvehicleyawratetrackingcontrolbasedondifferentialsteering AT bingkuang experimentalstudyofelectricvehicleyawratetrackingcontrolbasedondifferentialsteering AT huijing experimentalstudyofelectricvehicleyawratetrackingcontrolbasedondifferentialsteering |