Differential Steering Control of Four Wheel Interdependent drive Vehicles

Project Title

Differential Steering Control of Four Wheel Interdependent drive Vehicles

Project Area of Specialization Mechatronics EngineeringProject Summary

skid steering of four-wheel independent-drive (4WID) electric vehicles (EV) and a differential steering of a 4WID EV with a steer-by-wire (SBW) system in case of steering failure. The dynamic models of skid steering vehicle (SSV) and differential steering vehicle (DSV) are established and the traditional front-wheel steering vehicle with neutral steering characteristics is selected as the reference model.

Project Objectives

 Co-simulation results of CarSim and Simulink show that the designed controller for DSV not only controls the yaw rate and sideslip angle of DSV to track those of the reference model exactly, but also ensures the robustness of the controlled system compared with the designed controller for SSV. And the differential driving torque needed to realize the differential steering is much smaller than that for skid steering, which indicates the possibility of the differential steering in case of steering failure

Project Implementation Method

the differential steering-based schema to control the lateral and rollover motions of the in-wheel motor-driven electric vehicles. Generated from the different torque of the front two wheels, the differential steering control schema will be activated to function the driver’s request when the regular steering system is in failure, thus avoiding dangerous consequences for in-wheel motor electric vehicles. On the contrary, when the vehicle is approaching rollover, the torque difference between the front two wheels will be decreased rapidly, resulting in failure of differential steering. Then, the vehicle rollover characteristic is also considered in the control system to enhance the efficiency of the differential steering. In addition, to handle the low cost measurement problem of the reference of front wheel steering angle and the lateral velocity, an H?H? observer-based control schema is presented to regulate the vehicle stability and handling performance, simultaneously. Finally, the simulation is performed based on the CarSim–Simulink platform, and the results validate the effectiveness of the proposed control schema.

Benefits of the Project

the differential steering-based schema to control the lateral and rollover motions of the in-wheel motor-driven electric vehicles. Generated from the different torque of the front two wheels, the differential steering control schema will be activated to function the driver’s request when the regular steering system is in failure, thus avoiding dangerous consequences for in-wheel motor electric vehicles. On the contrary, when the vehicle is approaching rollover, the torque difference between the front two wheels will be decreased rapidly, resulting in failure of differential steering. Then, the vehicle rollover characteristic is also considered in the control system to enhance the efficiency of the differential steering. In addition, to handle the low cost measurement problem of the reference of front wheel steering angle and the lateral velocity, an H?H? observer-based control schema is presented to regulate the vehicle stability and handling performance, simultaneously. Finally, the simulation is performed based on the CarSim–Simulink platform, and the results validate the effectiveness of the proposed control schema.

Technical Details of Final Deliverable

steering-based schema to control the lateral and rollover motions of the in-wheel motor-driven electric vehicles. Generated from the different torque of the front two wheels, the differential steering control schema will be activated to function the driver’s request when the regular steering system is in failure, thus avoiding dangerous consequences for in-wheel motor electric vehicles. On the contrary, when the vehicle is approaching rollover, the torque difference between the front two wheels will be decreased rapidly, resulting in failure of differential steering. Then, the vehicle rollover characteristic is also considered in the control system to enhance the efficiency of the differential steering. In addition, to handle the low cost measurement problem of the reference of front wheel steering angle and the lateral velocity, an H?H? observer-based control schema is presented to regulate the vehicle stability and handling performance, simultaneously. Finally, the simulation is performed based on the CarSim–Simulink platform, and the results validate the effectiveness of the proposed control schema.

Final Deliverable of the Project Hardware SystemCore Industry TransportationOther Industries Manufacturing Core Technology OthersOther Technologies Wearables and ImplantablesSustainable Development Goals Industry, Innovation and InfrastructureRequired Resources

Item Name	Type	No. of Units	Per Unit Cost (in Rs)	Total (in Rs)
			Total in (Rs)	58998
gear	Equipment	6	4000	24000
lever	Equipment	2	2999	5998
motor	Equipment	1	4000	4000
Tyres	Equipment	4	4000	16000
Miscellaneous	Miscellaneous	1	9000	9000