The problem of controlling the longitudinal motion of front-wheels electric vehicle (EV) is considered making the focus on the case where a single dc motor is used for both front wheels. Chassis dynamics are modelled applying relevant fundamental laws taking into account the aerodynamic effects and the road slope variation. The longitudinal slip, resulting from tire deformation, is captured through Kiencke's model. Despite its highly nonlinear nature the complete model proves to be utilizable in longitudinal control design. The control objective is to achieve a satisfactory vehicle speed regulation in acceleration/deceleration stages, despite wind speed and other parameters uncertainty. An adaptive controller is developed using the backstepping design technique. The obtained adaptive controller is shown to meet its objectives in presence of the changing aerodynamics efforts and road slope.
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January 2014
Research-Article
Nonlinear Cascade Strategy for Longitudinal Control of Electric Vehicle
F. Giri,
F. Giri
1
e-mail: fouad.giri@unicaen.fr
1Corresponding author.
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F. Z. Chaoui
F. Z. Chaoui
Department of Electrical Engineering,
University of Caen Basse-Normandie
,GREYC Lab UMR CNRS
,14032 Caen
, France
Search for other works by this author on:
F. Giri
e-mail: fouad.giri@unicaen.fr
F. Z. Chaoui
Department of Electrical Engineering,
University of Caen Basse-Normandie
,GREYC Lab UMR CNRS
,14032 Caen
, France
1Corresponding author.
Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received September 6, 2012; final manuscript received May 31, 2013; published online September 4, 2013. Assoc. Editor: Xubin Song.
J. Dyn. Sys., Meas., Control. Jan 2014, 136(1): 011005 (13 pages)
Published Online: September 4, 2013
Article history
Received:
September 6, 2012
Revision Received:
May 31, 2013
Citation
El Majdoub, K., Giri, F., Ouadi, H., and Chaoui, F. Z. (September 4, 2013). "Nonlinear Cascade Strategy for Longitudinal Control of Electric Vehicle." ASME. J. Dyn. Sys., Meas., Control. January 2014; 136(1): 011005. https://doi.org/10.1115/1.4024782
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