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A novel direct yaw moment controller for in-wheel motor electric vehicles
Ist Teil von
Vehicle system dynamics, 2013-06, Vol.51 (6), p.925-942
Ort / Verlag
Colchester: Taylor & Francis
Erscheinungsjahr
2013
Quelle
Taylor & Francis
Beschreibungen/Notizen
A novel direct yaw moment controller is developed in this paper. A hierarchical control architecture is adopted in the controller design. In the upper controller, a driver model and a vehicle model are used to obtain the driver's intention and the vehicle states, respectively. The upper controller determines the desired yaw moment by means of sliding mode control. The lower controller distributes differential longitudinal forces according to the desired yaw moment. A nonlinear tyre model, 'UniTire', is utilised to develop the novel distribution strategy and the control boundary.