Sliding mode control for an electric vehicle with differential speed
In this paper, a control scheme to regulate the speed in an electric vehicle with two electric motors in the rear axle. In order to make a turn in the vehicle a differential speed in the motors is needed. A detailed mathematical model of the electric vehicle is included, comprising the dynamics of t...
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| Format: | Article |
| Language: | Spanish |
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Universitat Politècnica de València
2021-04-01
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| Series: | Revista Iberoamericana de Automática e Informática Industrial RIAI |
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| Online Access: | https://polipapers.upv.es/index.php/RIAI/article/view/13440 |
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| author | H. Hidalgo H. Huerta |
| author_facet | H. Hidalgo H. Huerta |
| author_sort | H. Hidalgo |
| collection | DOAJ |
| description | In this paper, a control scheme to regulate the speed in an electric vehicle with two electric motors in the rear axle. In order to make a turn in the vehicle a differential speed in the motors is needed. A detailed mathematical model of the electric vehicle is included, comprising the dynamics of the components in the system, as well as their interconnections. An inverse kinematic controller is presented to calculate the required speed references for the motors. Taking into account the references, a robust sliding mode controller is presented, to guarantee the stability of the complete system. The proposed control scheme was tested in closed - loop through simulations to prove the performance. The results show a good performance under different perturbations, such that parameter variations and external disturbances, in this case, driver mass and road slope. Furthermore, the discretization and a proposal to implement the control scheme controller in an embedded system are presented. |
| format | Article |
| id | doaj-art-5ae4ce6b80a641398e5c77a72eb1468b |
| institution | Kabale University |
| issn | 1697-7912 1697-7920 |
| language | Spanish |
| publishDate | 2021-04-01 |
| publisher | Universitat Politècnica de València |
| record_format | Article |
| series | Revista Iberoamericana de Automática e Informática Industrial RIAI |
| spelling | doaj-art-5ae4ce6b80a641398e5c77a72eb1468b2025-01-02T08:41:13ZspaUniversitat Politècnica de ValènciaRevista Iberoamericana de Automática e Informática Industrial RIAI1697-79121697-79202021-04-0118211912810.4995/riai.2020.134408313Sliding mode control for an electric vehicle with differential speedH. Hidalgo0H. Huerta1Instituto Tecnológico Superior de Villa La VentaCentro Universitario de los VallesIn this paper, a control scheme to regulate the speed in an electric vehicle with two electric motors in the rear axle. In order to make a turn in the vehicle a differential speed in the motors is needed. A detailed mathematical model of the electric vehicle is included, comprising the dynamics of the components in the system, as well as their interconnections. An inverse kinematic controller is presented to calculate the required speed references for the motors. Taking into account the references, a robust sliding mode controller is presented, to guarantee the stability of the complete system. The proposed control scheme was tested in closed - loop through simulations to prove the performance. The results show a good performance under different perturbations, such that parameter variations and external disturbances, in this case, driver mass and road slope. Furthermore, the discretization and a proposal to implement the control scheme controller in an embedded system are presented.https://polipapers.upv.es/index.php/RIAI/article/view/13440sistemas dinámicos de vehículosvehículos eléctricoscontrol por modos deslizantescontrol robustosistemas lagrangianos |
| spellingShingle | H. Hidalgo H. Huerta Sliding mode control for an electric vehicle with differential speed Revista Iberoamericana de Automática e Informática Industrial RIAI sistemas dinámicos de vehículos vehículos eléctricos control por modos deslizantes control robusto sistemas lagrangianos |
| title | Sliding mode control for an electric vehicle with differential speed |
| title_full | Sliding mode control for an electric vehicle with differential speed |
| title_fullStr | Sliding mode control for an electric vehicle with differential speed |
| title_full_unstemmed | Sliding mode control for an electric vehicle with differential speed |
| title_short | Sliding mode control for an electric vehicle with differential speed |
| title_sort | sliding mode control for an electric vehicle with differential speed |
| topic | sistemas dinámicos de vehículos vehículos eléctricos control por modos deslizantes control robusto sistemas lagrangianos |
| url | https://polipapers.upv.es/index.php/RIAI/article/view/13440 |
| work_keys_str_mv | AT hhidalgo slidingmodecontrolforanelectricvehiclewithdifferentialspeed AT hhuerta slidingmodecontrolforanelectricvehiclewithdifferentialspeed |