Design and simulation of stability control systems for an electric vehicle model

This project addresses the problem of yaw stability control of a distributed electric vehicle in the presence of different road conditions like snow or wet asphalt. The objective of the yaw stability control system (ESC) is to allow the driver to keep control of the vehicle when the lateral forces developed in the tires saturate. The saturation of the lateral forces can lead to understeering when the front wheels saturate, thus leading to wider turning than intended; or oversteering when the rear wheels saturate and the vehicle turns more than intended. The ESC has been divided into a high-level supervisor that dictates the corrective yaw moment to generate by braking or accelerating the individual wheels, and a low-level algorithm in charge of distributing the torque. For the supervisor, a PID, a sliding mode (SMC) and a model predictive control (MPC) are proposed and tested. For the low-level torque distribution, a adhesion potential and a closed-form analytic force optimization algorithm have been used. The vehicle and road environment are modeled in co-simulation with CarSim and Matlab/Simulink.

• Autores: Osorio Bermúdez, Andrés Leonardo
• Tipo de recurso: Trabajo de grado de pregrado
• Fecha de publicación: 2017
• Institución: Universidad de los Andes
• Repositorio: Séneca: repositorio Uniandes
• Idioma: eng
• OAI Identifier: oai:repositorio.uniandes.edu.co:1992/39921
• Acceso en línea: http://hdl.handle.net/1992/39921
• Palabra clave: Vehículos eléctricos; Controladores PID; Ingeniería
• Rights: openAccess
• License: https://repositorio.uniandes.edu.co/static/pdf/aceptacion_uso_es.pdf