Adaptive Motion Control of Electric Vehicle Based on Cascaded Sliding Mode
An adaptive cascade sliding mode motion control scheme for electric vehicles is proposed.The control system of electric vehicles consists of a cascade sliding mode control structure composed of sideslipping angle and yaw angle speed controller.The parametric adaptive function of the control system can effectively reduce the high-gain buffering problem of vehicle operation,and the optimal torque distribution based on the minimization of actuator redundancy can effectively prevent the over-saturation of the driving force.Finally,the experiment is carried out on the vehicle of an automobile factory.The experimental results show that the proposed adaptive cascade sliding mode motion control scheme can effectively improve the handling performance of electric vehicles.Compared with the non-applied control and the applied traditional control,the driver's handling force is reduced by 70％and 33％respectively,and the real-time tracking of the yaw speed and the sideslipping angle can be realized well.At the same time,the adaptive parameter effectively reduces the unnecessary high-gain buffeting phenomenon of the in-wheel motor.
electric vehiclemotion controladaptive cascade sliding mode controlhandling performancemotor chatteringstability
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