Implementation of Adaptive Sliding Mode Robust Control technique to Stabilization In-Wheel Motor Electric Vehicle in Emergency Condition

علوم کاربردی و محاسباتی در مکانیک

Article 7, Volume 37, Issue 1 - Serial Number 39, April 2025, Pages 107-128   

Document Type: Original Article

DOI: 10.22067/jacsm.2024.84743.1209

Authors

Mohammad amin Ghomashi^* ; reza kazemi

Faculty of Mechanical Engineering, K.N.T University of Technology, Tehran, Iran.

Abstract

In this research, with the aim of stabilizing in-wheel motor electric vehicle, an adaptive sliding mode robust control strategy is developed based on the phase plane. The proposed control strategy includes three levels. The first level includes an adaptive sliding mode controller. In this research, changing the state of the system is done with the aim of solving the problem of chattering in the system and minimizing the response delay and tracking error. The second level includes a joint control algorithm, which is implemented based on the boundary model of the stable region of the vehicle uses the yaw rate to determine the rotational torque of the vehicle. And when the vehicle is outside the stable region, the adaptive sliding mode control algorithm uses the sideslip angle of the vehicle and the yaw rate to stabilize and return the vehicle to the stable region. The third level includes an optimal distribution function for allocating rotational torque to four vehicle tires. In order to consider the real behavior of the vehicle, the nonlinear dynamics of the tire is considered. The proposed control algorithm is analyzed and investigated in different scenarios with different working conditions and critical and emergency conditions. The results of the performed simulations show the optimal and effectiveness performance of the proposed control algorithm. Also, MATLAB/Carsim software is used to validate the performed simulations.

Keywords

Sliding Mode; Stability; Sliding Surface; In-wheel Motor; Vehicle Dynamic

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