SCIENCE CHINA Information Sciences, Volume 61 , Issue 7 : 070206(2018) https://doi.org/10.1007/s11432-017-9339-7

Yaw stability control for a rear double-driven electric vehicle using LPV-methods

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  • ReceivedNov 14, 2017
  • AcceptedDec 29, 2017
  • PublishedJun 6, 2018


This paper presents a new yaw stability controller for a rear double-driven electric vehicle. A linear parameter varying (LPV) model of the vehicle is formulated using longitudinal speed measurement and tire cornering stiffness estimation. The LPV model is then utilized to design a gain-scheduled (H_∞) controller with guaranteed stability. Results from simulations, performed with CarSim, show that the new controller improves the vehicle performance and handling even in extreme maneuvers and that it is robust to model parameter uncertainties.


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  • Figure 1

    (Color online) 2DOF vehicle model.

  • Figure 2

    Control system architecture.

  • Figure 3

    (Color online) Simulation results of step steering test for gain scheduled (H_∞) controlled, stationary (H_∞) controlled and uncontrolled vehicle. (a) Steering wheel angle; (b) yaw rate; (c) sideslip angle; (d) motor torques.

  • Figure 4

    (Color online) Simulation results of fishhook maneuver for gain scheduled (H_∞) controlled, stationary (H_∞) controlled and uncontrolled vehicle. (a) Steering wheel angle; (b) yaw rate; (c) sideslip angle; (d) motor torques.

  • Figure 5

    (Color online) Simulation results of double lane change test for gain-scheduled (H_∞) controlled, stationary (H_∞) controlled and uncontrolled vehicle. (a) Yaw rate; (b) sideslip angle; (c) motor torques; (d) trajectory.

  • Figure 6

    (Color online) Trajectory of a vehicle during double lane change maneuver, controlled by GS-(H_∞) controller with parameter errors.

  • Table 1   Vehicle model parameters
    Parameter Unit Value Parameter Unit Value
    (m) kg 1140 (C_α r) N/rad 135000
    (I_rm zz)kg(·)m$^{2}$ 996 (C_α f) N/rad 150000
    (l_r) m 1.165 (R_m) $\Omega$ 0.532
    (l_f) m 1.165 (k_m) Nm/A 21
    (t_r) m 1.486 (L_m) H 0.007
    (r_rm wr)m 0.299 (τ1) s 0.3
    (J_w) kg(·)m$^{2}$ 0.6 (τ1) s 0.3
  • Table 2   (H_∞) controllers' weights
    Weight Stationary Gain-Scheduled
    (W_V_y) 0.5 0.5
    (W_dotψ) 1 1
    (W_u) (6.2·10^-7) 0.135

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