TY - GEN
T1 - Control Strategy for Handling Stability of a Four-Wheel Drive Formula Student Electric Car
AU - Wang, Jian
AU - Yang, Zhenwei
AU - Yu, Hailong
AU - Lin, Haiying
AU - Lin, Qingfeng
N1 - Publisher Copyright:
© 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.
PY - 2022
Y1 - 2022
N2 - This paper presents a control strategy for the handling stability of a four-wheel drive formula student electric car. The wheel speed correction algorithm based on double track model and the car speed estimation algorithm based on Kalman filter are designed to lay the foundation for good handling and stability control. Based on the hierarchical control theory, direct yaw moment control is divided into three control layers: motion tracking layer, torque distribution layer and slip rate control layer. In the motion tracking layer, combined with the linear two-degree-of-freedom vehicle model, the anti-saturation integral PID algorithm is used to obtain the ideal value of the yaw rate. In the torque distribution layer, an additional yaw moment is generated by the method of equal distribution of inner and outer sides and proportional distribution of front and rear axles to realize the control of the driving stability of the car. In the slip rate control layer, a synovial variable structure control method is adopted to make the actual wheel slip rate the same as the target slip rate. A joint simulation model was built based on Carsim and Simulink, and the control strategy in-loop simulation verification was completed. An electric formula racing test platform was built, and the feasibility of the control strategy was further verified in the four-wheel drive formula student electric car.
AB - This paper presents a control strategy for the handling stability of a four-wheel drive formula student electric car. The wheel speed correction algorithm based on double track model and the car speed estimation algorithm based on Kalman filter are designed to lay the foundation for good handling and stability control. Based on the hierarchical control theory, direct yaw moment control is divided into three control layers: motion tracking layer, torque distribution layer and slip rate control layer. In the motion tracking layer, combined with the linear two-degree-of-freedom vehicle model, the anti-saturation integral PID algorithm is used to obtain the ideal value of the yaw rate. In the torque distribution layer, an additional yaw moment is generated by the method of equal distribution of inner and outer sides and proportional distribution of front and rear axles to realize the control of the driving stability of the car. In the slip rate control layer, a synovial variable structure control method is adopted to make the actual wheel slip rate the same as the target slip rate. A joint simulation model was built based on Carsim and Simulink, and the control strategy in-loop simulation verification was completed. An electric formula racing test platform was built, and the feasibility of the control strategy was further verified in the four-wheel drive formula student electric car.
KW - Formula student electric China
KW - Four-wheel drive
KW - Handling stability control
KW - Hierarchical control
KW - Speed estimation
UR - https://www.scopus.com/pages/publications/85124011058
U2 - 10.1007/978-981-16-2090-4_13
DO - 10.1007/978-981-16-2090-4_13
M3 - 会议稿件
AN - SCOPUS:85124011058
SN - 9789811620898
T3 - Lecture Notes in Electrical Engineering
SP - 221
EP - 235
BT - Proceedings of China SAE Congress 2020
PB - Springer Science and Business Media Deutschland GmbH
T2 - China SAE Congress, 2020
Y2 - 27 October 2020 through 29 October 2020
ER -