Control performance of a road vehicle with four independent single-wheel electric motors and steer-by-wire system
Control performance of a road vehicle with four independent single-wheel electric motors and steer-by-wire system
- New search for: Weiskircher, Thomas
- New search for: Müller, Steffen
- New search for: Weiskircher, Thomas
- New search for: Müller, Steffen
This article presents a motion controller for a road vehicle equipped with a steer-by-wire system and four independent electric rim-mounted drives. The motion controller separates the control law from the specific actuator setup by the usage of virtual global control variables acting on the vehicle centre of gravity. A control allocation algorithm distributes the virtual control variables to the available actuators. An approximation of the real actuator dynamics is used to analyse the performance of different motion controller types in the linear and nonlinear driving regions. In addition, a vehicle state observer consisting of a traction force observer and an unscented Kalman filter is discussed to analyse the control behaviour in the case of a real sensor setup.
Document information
Control performance of a road vehicle with four independent single-wheel electric motors and steer-by-wire system
Vehicle System Dynamics ; 50 , sup1 ; 53-69
2012-01-01
17 pages
Article (Journal)
Electronic Resource
English
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