Robust yaw stability control for electric vehicles based on active steering control
Robust yaw stability control for electric vehicles based on active steering control
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DOI：
10.1109/vppc.2010.5729202
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发表时间：
2010-09
期刊：
影响因子：
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通讯作者：
K. Nam;Sehoon Oh;Y. Hori
中科院分区：
文献类型：
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作者：
K. Nam;Sehoon Oh;Y. Hori
提出了一种基于主动转向控制的电动汽车横摆稳定性鲁棒控制方法。将一种基于干扰观测器的二自由度控制方法应用于偏航稳定控制器的设计。此外，前馈干扰补偿器的设计，以补偿意外偏航力矩所造成的左右驱动电机之间的转矩差。模型的不确定性，包括未建模的高频动态和参数变化发生在广泛的驾驶情况。因此，鲁棒控制设计方法被应用到控制器的设计，以保证控制系统的鲁棒稳定性和性能。通过计算机仿真验证了所提出的偏航稳定性控制系统的控制性能。
In this paper, the robust yaw stability control based on active steering control is proposed for electric vehicles (EVs). A two degree of freedom control method by a disturbance observer is applied to control design for yaw stabilization. Moreover, the feed-forward disturbance compensator is designed to compensate unexpected yaw moment caused by torque differences between left and right driving motors. The model uncertainty including unmodeled high frequency dynamics and parameter variations occurs in the wide range of driving situations. Hence, a robust control design method is applied to controller design for guaranteeing robust stability and performance of the control system. The control performance of the proposed yaw stability control system is verified through computer simulations.