Research on 4WS-DS control strategy of electric wheel vehicle

Jinxia Liu; Le Geng; Kai Wang; Wenting Liu

doi:10.1117/12.2625454

12 December 2021 Research on 4WS-DS control strategy of electric wheel vehicle

Jinxia Liu, Le Geng, Kai Wang, Wenting Liu

Proceedings Volume 12127, International Conference on Intelligent Equipment and Special Robots (ICIESR 2021); 121271J (2021) https://doi.org/10.1117/12.2625454
Event: International Conference on Intelligent Equipment and Special Robots (ICIESR 2021), 2021, Qingdao, China

Abstract

For a 4-wheel steering(4WS) electric wheel vehicle, the control strategy of 4WS and differential steering (4WS-DS) cooperative control is studied in this paper. Based on the idea of hierarchical control, the cooperative control of 4WS-DS is divided into motion control and control distribution layer. In the motion control layer, a 7 degree of freedom (DOF) vehicle model and a sliding mode controller are established to calculate the additional yaw moment required to maintain vehicle stability based on the error between the actual and reference states of the vehicle. In the control distribution layer, a cooperative controller of 4WS-DS is established, and the working areas of 4WS and DS control are divided according to the sideslip angle. Then, the additional yaw moment is optimally distributed to each wheel using weighted least squares. Taking the sine input of ISO7401:2011 standard as the working condition, the simulation by Matlab/Simulink shows that compared with the 4WS and DS control strategy, the sideslip angle is reduced by 68%, and the yaw rate is reduced by 33.3%.

Citation Download Citation

Jinxia Liu, Le Geng, Kai Wang, and Wenting Liu "Research on 4WS-DS control strategy of electric wheel vehicle", Proc. SPIE 12127, International Conference on Intelligent Equipment and Special Robots (ICIESR 2021), 121271J (12 December 2021); https://doi.org/10.1117/12.2625454

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