In an article published in IEEJ Transactions on Electrical and Electronic Engineering titled “Electric Vehicle Steering System Fuzzy Modeling and Controller Design,” the focus is on the growing significance of steering control in electric vehicles (EVs) for enhanced driving comfort and safety. Unlike traditional internal combustion engine vehicles with a single steering input, EVs benefit from direct yaw moment control due to their dispersed in-wheel motors. This study explores the intricacies of modeling EV steering systems under uncertain conditions, advancing towards a robust controller design validated through computer simulations.
Modeling and Controller Design
The paper initially delves into the mathematical modeling of the EV steering system, acknowledging the inherent uncertainties in the system. This step is crucial as the controller design relies heavily on an accurate model. Subsequently, a Takagi-Sugeno (T-S) fuzzy model is developed which accommodates a range of vehicle velocities. This model serves as the foundation for the subsequent design of a robust controller with input constraints, ensuring the system’s reliability and effectiveness under varying conditions.
Validation of the designed controller is performed through rigorous computer simulations. These simulations demonstrate the controller’s capacity to maintain optimal performance despite the uncertainties and varying velocities, thereby reinforcing the model’s robustness.
Comparison with Past Research
Earlier research on EV steering control primarily concentrated on traditional linear control methods, which often proved inadequate for handling the complexities associated with direct yaw moment control. These methods did not fully address the impact of dispersed in-wheel motors, which are now a characteristic feature in modern EVs. The current study’s emphasis on fuzzy modeling and robust control design marks a significant evolution from these traditional approaches, offering a more comprehensive solution to the intricacies of EV steering systems.
Moreover, past studies frequently overlooked the uncertainties in system modeling, leading to controllers that were less effective under real-world conditions. By incorporating uncertainties into the model and focusing on robust control design, the present research provides a more accurate and reliable approach. This represents a considerable advancement over earlier methodologies, aligning more closely with the practical requirements of contemporary EVs.
The development of a robust controller based on the T-S fuzzy model signifies a pivotal step towards more reliable and safe EV steering systems. This approach not only addresses the uncertainties inherent in the system but also ensures that the vehicle can handle a range of velocities effectively. The computer simulations used to validate the controller further underscore its potential for real-world applications, highlighting the importance of integrating advanced modeling techniques in EV technology.
