Direct roll moment control for electric vehicles based on roll angle observer and lateral tire force control

摘要

This paper presents roll stability control methodology for future personal electric vehicles with 4 wheel steering system and lateral force sensors. Direct roll moment control is realized by 4 wheel steering control based on lateral tire force control. In this paper, the lateral tire force, obtained from novel lateral force sensors, was utilized to estimate a roll angle and to control the vehicle roll motion. In order to estimate roll angle, a linear observer was proposed and implemented in an experimental electric vehicle. The effectiveness of a proposed roll angle observer was verified through field tests. By using an estimated roll angle, a direct roll moment controller for roll stability was designed based on general two-degree-of-freedom (2-DOF) control methodology. Effectiveness of a proposed roll stability control method was verified through computer simulation using CarSim software.