پايدارسازي جانبي خودروي الکتريکي چهارچرخ محرک با استفاده از يک کنترل‌کننده سه‌لايه و کنترل مد لغزشی
الموضوعات :حسن علی‌پور 1 , مهران صباحي 2 , محمدباقر بناءشریفیان 3
1 - دانشگاه تبریز
2 - دانشگاه تبريز
3 - دانشگاه تبریز
الکلمات المفتاحية: خودروي الکتريکي چهارچرخ محرک کنترل پايداري جانبي کنترل مد لغزشی کنترل نرخ ياو,
ملخص المقالة :
در اين مقاله، يک کنترل‌کننده جديد براي پايدارسازي جانبي خودروهاي الکتريکي چهارچرخ محرک بدون ديفرانسيل پيشنهاد شده که روش کنترلي پيشنهادي شامل سه سطح بالا، متوسط و پايين مي‌باشد. در سطح بالای کنترل‌کننده، ديناميک‌هاي مطلوب خودرو يعني سرعت طولي و نرخ ياو مرجع تعيين مي‌شوند. در این مقاله، يک ساختار جديد براي روش کنترل مد لغزشي پيشنهاد شده و پايداري آن توسط تئوری پایداری لیاپانوف اثبات گرديده است. این روش کنترل مد لغزشی نسبت به کنترل‌کننده مد لغزشي معمولي مقاوم‌تر، سريع‌تر و داراي نوسانات کمتري حول پاسخ است. کنترل‌کننده سطح متوسط جهت رسيدن به نيروي رانش و ممان ياو مطلوب، بر اساس روش کنترل مد لغزشی پیشنهادی، طراحي گرديده است. در سطح پايين با تعريف و مينيمم‌کردن بهينه يک تابع هزينه، سيگنال‌هاي نيرو و گشتاور مناسب براي اعمال به چرخ‌ها تعيين گردیده و در نهايت کارایي کنترل‌کننده پيشنهادي با انجام شبيه‌سازي در نرم‌افزارهاي MATLAB و CARSIM تأييد شده است.
[1] M. Ehsani, Y. Gao, and A. Emadi, Modern Electric, Hybrid Electric, and Fuel Cell Vehicles, Taylor & Francis Group, 2nd Edition, 2010.
[2] J. Santiago, H. Bernhoff, B. Ekergard, S. Eriksson, S. Ferhatovic, R. Waters, and M. Leijon, "Electrical motor drivelines in commercial all-electric vehicles: a review," IEEE Trans. on Vehicular Technology, vol. 61, no. 2, pp. 475-484, Feb. 2012.
[3] M. Shino and M. Nagai, "Independent wheel torque control of small - scale electric vehicle for handling and stability improvement," JSAE Review, vol. 24, no. 4, pp. 449-456, Oct. 2003.
[4] R. Wang and J. Wang, "Fault tolerant control for electric ground vehicles with independently actuated in-wheel motors," J. of Dynamic Systems, Measurement, and Control, vol. 134, no. 2, 10 pp., Mar. 2012.
[5] W. Liang, H. Yu, R. McGee, M. Kuang, and J. Medanic, "Vehicle pure yaw moment control using differential tire slip," in Proc. American Control Conf., pp. 3331-3336, 10-12 Jun. 2009.
[6] A. Haddoun, M. E. Benbuzid, D. Diallo, R. Abdessemed, J. Ghouili, and K. Srairi, "Modeling, analysis, an neural network control of an EV electrical differential," IEEE Trans. on Industrial Electronics, vol. 55, no. 6, pp. 2286-2294, Jun. 2008.
[7] F. J. Perez-Pinal, I. Cervantes, and A. Emadi, "Stability of an electric differential for traction applications," IEEE Trans. on Vehicular Technology, vol. 58, no. 7, pp. 3224-3233, Sep. 2009.
[8] B. Tabbache, A. Kheloui, and M. E. Bendouzid, "An adaptive electric differential for electric vehicles motion stabilization," IEEE Trans. on Vehicular Technology, vol. 60, no. 1, pp. 104-110, Jan. 2011.
[9] Y. Chen and J. Wang, "Design and evaluation on electrical differentials for over-actuated electrical ground vehicles with four independent in-wheel motors," IEEE Trans. on Vehicular Technology, vol. 61, no. 4, pp. 1534-1542, May 2012.
[10] F. Tahami, R. Kazemi, and S. Farhanghi, "A novel driver assist stability system for all-wheel electric vehicles," IEEE Trans. on Vehicular Technology, vol. 52, no. 3, pp. 683-692, May 2003.
[11] F. Tahami, S. Farhanghi, and R. Kazemi, "A fuzzy logic direct yaw - moment control system for all-wheel drive electric vehicles," Vehicle System Dynamics, vol. 41, no. 3, pp. 203-221, Mar. 2004.
[12] F. Tahami, S. Farhanghi, R. Kazemi, and B. Samadi, "Fuzzy based stability enhancement system for a four motor electric vehicle," SAE Technical Papers, 11 pp., Mar. 2002.
[13] F. Tahami, S. Farhangi, and R. Kazemi, "Direct yaw control of an all-wheel-drive EV based on fuzzy logic and neural networks," SAE Technical Papers, 9 pp., Mar. 2003.
[14] A. Goodarzi and E. Esmailzadeh, "Design of a VDC system for all - wheel independent drive vehicles," IEEE Trans. on Mechatronics, vol. 12, no. 6, pp. 632-639, Dec. 2007.
[15] C. Geng, L. Mostafai, M. Denai, and Y. Hori, "Direct yaw - moment control of an in-wheel-motored electric vehicle based on body slip angle fuzzy observer," IEEE Trans. on Industrial Electronics, vol. 56, no. 5, pp. 1411-1419, May 2009.
[16] D. Kim, S. Hwang, and H. Kim, "Vehicle stability enhancement of four-wheel-drive hybrid electric vehicle using rear motor control," IEEE Trans. on Vehicular Technology, vol. 57, no. 2, pp. 727-735, Mar. 2008.
[17] H. Yang, V. Cocquempot, and B. Jiang, "Optimal fault-tolerant path-tracking control for 4WS4WD electric vehicles," IEEE Trans. on Intelligent Transportation Systems, vol. 11, no. 1, pp. 237-243, Mar. 2010.
[18] R. Wang and J. Wang, "Fault-tolerant control with active fault diagnosis for four-wheel independently driven electric ground vehicles," IEEE Trans. on Vehicular Technology, vol. 60, no. 9, pp. 4276-4287, Nov. 2011.
[19] R. Wang and J. Wang, "Passive actuator fault-tolerant control for a class of overactuated nonlinear systems and applications to electric vehicles," IEEE Trans. on Vehicular Technology, vol. 62, no. 3, pp. 972-985, Mar. 2013.
[20] R. Rajamani, Vehicle Dynamics and Control, Springer, 2nd Edition, 2012.
[21] H. Alipour, M. B. Bannae Sharifian, and H. Afsharirad, "A PID sliding mode control for ropeless elevator maglev guiding system," Energy and Power Engineering, vol. 4, no. 3, pp. 158-164, May 2012.
[22] M. J. Kharaajoo and F. Besharati, "Sliding mode traction control of an electric vehicle with four separate wheel drives," in Emerging Technologies and Factory Automati on IEEE Conf., vol. 2, pp. 291-296, Sep. 2003.
[23] J. Kang, J. Yoo, and K. Yi, "Driving control algorithm for maneuverability, lateral stability, and rollover prevention of 4WD electric vehicles with independently driven front and rear wheels," IEEE Trans. on Vehicular Technology, vol. 60, no. 7, pp. 2987-3001, May 2011.
[24] E. L. Lehmann and G. Casella, Theory of Point Estimation, Springer, 2nd Ed., 1998.
