Research on Yaw Stability Control of Front-Wheel Dual-Motor-Driven Driverless Formula Racing Car
Abstract
:1. Introduction
2. Control Principle
3. Two-Degree-of-Freedom Vehicle Reference Model
4. Yaw Moment Controller
4.1. Integral Sliding Mode Yaw Moment Controller
4.2. Torque Distribution Controller
4.2.1. Optimized Target Design
4.2.2. Torque Distribution Rules
5. Simulation and Result Analysis
5.1. Double-Lane-Change (DLC) Simulation
5.2. Autocross Traction Simulation
6. Conclusions
- Taking the yaw stability of the racing car as the control objective, the upper layer is designed based on integral sliding mode theory, which solves the jitter problem of the traditional sliding mode control by introducing an integral term based on the original sliding mode control principle. The linear two-degree-of-freedom model of the racing car is established to calculate the expected yaw angular velocity, the expected side slip angle, and the additional yaw moment.
- Aiming at the additional torque generated when the racing car turns, the lower torque distribution controller is designed, and the torque optimization goal and torque distribution rules of the car are used as the evaluation criteria to optimize the torque distribution of the two motors of the inner and outer wheels.
- The results of simulation experiments under two different working conditions show that the yaw stability of the driverless formula racing car with the yaw stability control strategy proposed in this paper is significantly improved when traveling and turning under different road conditions, which verifies the effectiveness of the yaw stability control strategy proposed in this paper. It improves the yaw stability of the car when turning at high speed and driving on low-adhesion-coefficient roads.
Author Contributions
Funding
Data Availability Statement
Conflicts of Interest
References
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Steering | Front-Wheel Steering Angle | Yaw Velocity Deviation | Additional Yaw Moment | Steering Characteristic | Torque Distribution |
---|---|---|---|---|---|
Left turn | Oversteer | ||||
Left turn | Understeer | ||||
Right turn | Understeer | ||||
Right turn | Oversteer |
Symbol | Definition | Value |
---|---|---|
m | Vehicle mass | 260 kg |
a | Distance of CG from front axle | 760.5 mm |
b | Distance of CG from rear axle | 852.5 mm |
c | Wheelbase | 1210 mm |
l | Axle base | 1550 mm |
h | Height of CG | 300 mm |
Iz | Vehicle yaw moment of inertia | 1325 kg/m2 |
J | Wheel yaw moment of inertia | 0.9 kg/m2 |
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Liu, B.; Li, G.; Bai, H.; Wang, S.; Zhang, X. Research on Yaw Stability Control of Front-Wheel Dual-Motor-Driven Driverless Formula Racing Car. World Electr. Veh. J. 2024, 15, 178. https://doi.org/10.3390/wevj15050178
Liu B, Li G, Bai H, Wang S, Zhang X. Research on Yaw Stability Control of Front-Wheel Dual-Motor-Driven Driverless Formula Racing Car. World Electric Vehicle Journal. 2024; 15(5):178. https://doi.org/10.3390/wevj15050178
Chicago/Turabian StyleLiu, Boju, Gang Li, Hongfei Bai, Shuang Wang, and Xing Zhang. 2024. "Research on Yaw Stability Control of Front-Wheel Dual-Motor-Driven Driverless Formula Racing Car" World Electric Vehicle Journal 15, no. 5: 178. https://doi.org/10.3390/wevj15050178