© The Institution of Engineering and Technology
For attenuating the shimmy phenomenon appeared in an electric vehicle (EV) with independent suspension, this study proposes a finite-time active shimmy stability control method based on an uncertainty estimation observer. Firstly, a four-degree-of-freedoms shimmy model of an EV with independent suspension is constructed. Secondly, in order to deal with the uncertainties in the shimmy model, a finite-time control method via a non-linear uncertain disturbance observer is proposed. The direct Lyapunov function method is used to analyse the global stability of the closed-loop system, and the results show that the system outputs globally converge to zero. Simulation and hardware-in-the-loop simulation test results verify the built shimmy model and show the effectiveness of the designed control method compared with the sliding mode control method.
References
-
-
1)
-
6. He, L., Zhou, Y.: ‘Analysis of hopf bifurcation of steering wheel shimmy of automobile’, Appl. Mech. Mater., 2013, 344, pp. 61–65.
-
2)
-
9. Wang, W., Shen, Z., Song, Y.L., et al: ‘System dynamics of linkage mechanism with clearance and dry friction’, J. Vib. Shock, 2015, 34, (18), pp. 210–214.
-
3)
-
37. Cui, L., Wei, Y., Wang, Y.: ‘Finite-time trajectory tracking control for autonomous airships with uncertainties and external disturbances’, IET Intell. Transp. Syst., 2020, 14, (5), pp. 440–448.
-
4)
-
24. Polendo, J., Qian, C.: ‘An expanded method to robustly stabilize uncertain nonlinear systems’, Commun. Inf. Syst., 2008, 8, (1), pp. 55–70.
-
5)
-
17. Chen, C.C., Xu, S.D., Liang, Y.W.: ‘Study of nonlinear integral sliding mode fault-tolerant control’, IEEE/ASME Trans. Mechatronics, 2016, 21, (2), pp. 1160–1168.
-
6)
-
15. Lin, C., Sun, S., Yi, J., et al: ‘Accelerated adaptive super twisting sliding mode observer-based drive shaft torque estimation for electric vehicle with automated manual transmission’, IET Intell. Transp. Syst., 2019, 13, (1, SI), pp. 160–167.
-
7)
-
8. Mi, T., Stepan, G., Takacs, D., et al: ‘Shimmy model for electric vehicle with independent suspensions’, Proc. Inst. Mech. Eng. D, J. Automob. Eng., 2018, 232, (3), pp. 330–340.
-
8)
-
29. Zhang, C., Yan, Y., Wen, C., et al: ‘A nonsmooth composite control design framework for nonlinear systems with mismatched disturbances: algorithms and experimental tests’, IEEE Trans. Ind. Electron., 2018, 65, (11), pp. 8828–8839.
-
9)
-
2. Lin, Y., Li, S.: ‘Study on the bifurcation character of steering wheel self-excited shimmy of motor vehicle with dependent suspension’, Chin. J. Mech. Eng., 2004, 40, (12), pp. 187–191.
-
10)
-
11. Meng, Q., Qian, C., Shu, Y.: ‘Active steering wheel shimmy control for electric vehicle by sampled-data output feedback’, ISA Trans., 2019, 84, pp. 262–270.
-
11)
-
33. Meng, Q., Zhao, T., Qian, C., et al: ‘Integrated stability control of afs and dyc for electric vehicle based on non-smooth control’, Int. J. Syst. Sci., 2018, 49, (7), pp. 1518–1528.
-
12)
-
20. Mallik, A., Lu, J., Khaligh, A.: ‘Sliding mode control of single-phase interleaved totem-pole PFC for electric vehicle onboard chargers’, IEEE Trans. Veh. Technol., 2018, 67, (9), pp. 8100–8109.
-
13)
-
36. Ji, X., Liu, Y., He, X., et al: ‘Interactive control paradigm based robust lateral stability controller design for autonomous automobile path tracking with uncertain disturbance: a dynamic game approach’, IEEE Trans. Veh. Technol., 2018, 67, (8), pp. 6906–6920.
-
14)
-
34. Meng, Q., Qian, C., Sun, Z.Y.: ‘Finite-time stability control of an electric vehicle under tyre blowout’, Trans. Inst. Meas. Control, 2019, 41, (5), pp. 1395–1404.
-
15)
-
7. Wei, D., Jiang, T., Chen, C., et al: ‘Hopf bifurcation character of an interactive vehicle-road shimmy system under bisectional road conditions’, Proc. Inst. Mech. Eng. D, J. Automob. Eng., 2017, 231, (3), pp. 405–417.
-
16)
-
12. Ding, S., Park, J.H., Chen, C.C.: ‘Second-order sliding mode controller design with output constraint’, Automatica, 2020, 112, p. 108704.
-
17)
-
21. Han, K., Choi, M., Lee, B., et al: ‘Development of a traction control system using a special type of sliding mode controller for hybrid 4WD vehicles’, IEEE Trans. Veh. Technol., 2018, 67, (1), pp. 264–274.
-
18)
-
22. Bartolini, G., Pisano, A., Punta, E., et al: ‘Simplex sliding mode control for autonomous six-DOF vehicles with mono-directional actuators: robustness, stability, and implementation issues’, Int. J. Robust Nonlinear Control, 2019, 29, (3, SI), pp. 529–549.
-
19)
-
42. Chen, D., Gu, H., Liu, H.: ‘Active control for landing gear shimmy with bifurcation theories’, J. Vib. Shock, 2010, 29, (7), pp. 38–42.
-
20)
-
39. Hosseinzadeh, M., Yazdanpanah, M.J.: ‘Performance enhanced model reference adaptive control through switching non-quadratic Lyapunov functions’, Syst. Control Lett., 2015, 76, pp. 47–55.
-
21)
-
27. Sun, Z.Y., Shao, Y., Chen, C.C., et al: ‘Global output-feedback stabilization for stochastic nonlinear systems: a double-domination approach’, Int. J. Robust Nonlinear Control, 2018, 28, (15), pp. 4635–4646.
-
22)
-
26. Du, H., Wen, G., Yu, X., et al: ‘Finite-time consensus of multiple nonholonomic chained-form systems based on recursive distributed observer’, Automatica, 2015, 62, (C), pp. 236–242.
-
23)
-
18. Ding, S., Liu, L., Zheng, W., et al: ‘Sliding mode direct yaw-moment control design for in-wheel electric vehicles’, IEEE Trans. Ind. Electron., 2017, 64, (8), pp. 6752–6762.
-
24)
-
5. Li, S., Lin, Y.: ‘Study on the bifurcation character of steering wheel self-excited shimmy of motor vehicle’, Veh. Syst. Dyn., 2006, 44, (sup1), pp. 115–128.
-
25)
-
31. Wang, N., Qian, C., Sun, J.C., et al: ‘Adaptive robust finite-time trajectory tracking control of fully actuated marine surface vehicles’, IEEE Trans. Control Syst. Technol., 2016, 24, (4), pp. 1454–1462.
-
26)
-
28. Sun, Z.Y., Shao, Y., Chen, C.C.: ‘Fast finite-time stability and its application in adaptive control of high-order nonlinear system’, Automatica, 2019, 106, pp. 339–348.
-
27)
-
30. Du, H., Jiang, C., Wen, G., et al: ‘Current sharing control for parallel DC-DC buck converters based on finite-time control technique’, IEEE Trans. Ind. Inf., 2019, 15, (4), pp. 2186–2198.
-
28)
-
41. Wang, W., Song, Y., Li, G.: ‘Influence of independent suspension automotive steering clearance and Coulomb friction on hopf bifurcation characteristic’, J. Mech. Eng., 2011, 47, (2), pp. 130–135.
-
29)
-
14. Wang, Y., Wang, Z., Zhang, L., et al: ‘Lateral stability enhancement based on a novel sliding mode prediction control for a four-wheel-independently actuated electric vehicle’, IET Intell. Transp. Syst., 2019, 13, (1, SI), pp. 124–133.
-
30)
-
32. Liu, Y., Lan, Q., Qian, C., et al: ‘Universal finite-time observer design and adaptive frequency regulation of hydraulic turbine systems’, IET Control Theory Appl., 2016, 10, (4), pp. 363–370.
-
31)
-
35. Meng, Q., Sun, Z.Y., Li, Y.: ‘Finite-time controller design for four-wheel-steering of electric vehicle driven by four in-wheel motors’, Int. J. Control, Autom. Syst., 2018, 16, (4), pp. 1814–1823.
-
32)
-
38. Zhou, W., Zhou, P., Wei, Y., et al: ‘Finite-time spatial path following control for a robotic underactuated airship’, IET Intell. Transp. Syst., 2020, 14, (5), pp. 449–454.
-
33)
-
25. Sun, Z.Y., Xue, L.R., Zhang, K.: ‘A new approach to finite-time adaptive stabilization of high-order uncertain nonlinear system’, Automatica, 2015, 58, pp. 60–66.
-
34)
-
13. Ding, S., Chen, W.H., Mei, K., et al: ‘Disturbance observer design for nonlinear systems represented by input-output models’, IEEE Trans. Ind. Electron., 2020, 67, (2), pp. 1222–1232.
-
35)
-
3. Takács, D., Stépán, G.: ‘Experiments on quasiperiodic wheel shimmy’, J. Comput. Nonlinear Dyn., 2009, 4, (3), p. 031007.
-
36)
-
23. Ferrara, A., Incremona, G.P., Regolin, E.: ‘Optimization-based adaptive sliding mode control with application to vehicle dynamics control’, Int. J. Robust Nonlinear Control, 2019, 29, (3, SI), pp. 550–564.
-
37)
-
16. Li, S., Wu, C., Sun, Z.: ‘Design and implementation of clutch control for automotive transmissions using terminal sliding mode control and uncertainty observer’, IEEE Trans. Veh. Technol., 2016, 65, (4), pp. 1890–1898.
-
38)
-
19. Ding, S., Mei, K., Li, S.: ‘A new second-order sliding mode and its application to nonlinear constrained systems’, IEEE Trans. Autom. Control, 2019, 64, (6), pp. 2545–2552.
-
39)
-
1. Kimura, T., Hanamura, Y., Takata, H., et al: ‘Analysis of steering shimmy accompanied by sprung mass vibration on light duty truck-fundamental mechanism’, JSAE Rev., 1996, 17, (3), pp. 301–306.
-
40)
-
40. Tao, G.: ‘Model reference adaptive control with l1+α tracking’, Int. J. Control, 1996, 64, (5), pp. 859–870.
-
41)
-
4. Wei, D., Xu, K., Jiang, Y., et al: ‘Hopf bifurcation characteristics of dual-front axle self-excited shimmy system for heavy truck considering dry friction’, Shock Vib., 2015, 2015, (1), pp. 1–20.
-
42)
-
10. Dutta, S., Choi, S.B.: ‘Control of a shimmy vibration in vehicle steering system using a magneto-rheological damper’, J. Vib. Control, 2018, 24, (4), pp. 797–807.
http://iet.metastore.ingenta.com/content/journals/10.1049/iet-its.2020.0348
Related content
content/journals/10.1049/iet-its.2020.0348
pub_keyword,iet_inspecKeyword,pub_concept
6
6