Coordinated Control of Hybrid 4WD Vehicles for Enhanced Maneuverability and Lateral Stability

This paper presents a method for coordinated control of hybrid four-wheel drive (4WD) vehicles (H4Vs), which consists of a front internal combustion engine and independent motor-driven rear wheels. H4Vs are equipped with electronic stability control (ESC), active front steering (AFS), and 4WD. For m...

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Bibliographic Details
Published in:IEEE transactions on vehicular technology 2012-05, Vol.61 (4), p.1946-1950
Main Authors: YIM, Seongjin, CHOI, Jaewoong, YI, Kyongsu
Format: Article
Language:English
Subjects:
Active control
Actuators
Applied sciences
Computer science
control theory
systems
Control theory. Systems
Electrical engineering. Electrical power engineering
Electrical machines
Electronics
Exact sciences and technology
Force
Ground, air and sea transportation, marine construction
Hybrid four-wheel drive (4WD) vehicles (H4Vs)
Lateral stability
Maneuverability
Miscellaneous
Regulation and control
Road transportation and traffic
Robotics
Simulation
simulation-based tuning
Stability analysis
Tires
Tuning
Vehicles
weighted pseudo-inverse based control allocation (WPCA) optimization
Wheels
Yaw
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Summary:This paper presents a method for coordinated control of hybrid four-wheel drive (4WD) vehicles (H4Vs), which consists of a front internal combustion engine and independent motor-driven rear wheels. H4Vs are equipped with electronic stability control (ESC), active front steering (AFS), and 4WD. For maneuverability and lateral stability, a yaw moment controller is designed. After generating a control yaw moment with a direct yaw moment control, it is distributed with ESC, AFS, and 4WD. Several actuator configurations of ESC, AFS, and 4WD are presented in the framework of the weighted pseudo-inverse based control allocation. Simulation-based tuning is proposed to improve the performance of the yaw moment distribution. Simulations show that the proposed method is effective for the coordinated control of H4Vs for enhanced maneuverability and lateral stability.
ISSN:0018-9545
1939-9359
DOI:10.1109/TVT.2012.2188921