Abstract
KEYWORDS – Electric vehicles, Handling control, Tire model, Multi-body dynamics modelling, Fractional order control
ABSTRACT – In this study, an electric vehicle (EV) prototype has been developed by Shanghai Jiao Tong University. The major vehicle parameters have been obtained through a series of test bench measurements and field tests. On this basis, a multi-body dynamics model has been built in Adams/Car. To deal with the combined impact of wheel slipping and cornering on tire forces, a novel tire model is proposed and validated with the data from CarSim Tire Tester. A 2-DOF model with additional consideration of the lateral load transfer has been utilized to calculate the reference state of the vehicle in response to driver’s input. An auto-tuning fractional order controller has been designed to satisfy the handling stability requirement. Simulation tests has been carried out to examine the effectiveness of the proposed tire model and the controller.