Slip Suppression Sliding Mode Control with Various Chattering Functions
This study presents performance analysis results of
SMC (Sliding mode control) with changing the chattering functions
applied to slip suppression problem of electric vehicles (EVs). In
SMC, chattering phenomenon always occurs through high frequency
switching of the control inputs. It is undesirable phenomenon and
degrade the control performance, since it causes the oscillations of the
control inputs. Several studies have been conducted on this problem
by introducing some general saturation function. However, study
about whether saturation function was really best and the performance
analysis when using the other functions, weren’t being done so much.
Therefore, in this paper, several candidate functions for SMC are
selected and control performance of candidate functions is analyzed.
In the analysis, evaluation function based on the trade-off between
slip suppression performance and chattering reduction performance
is proposed. The analyses are conducted in several numerical
simulations of slip suppression problem of EVs. Then, we can
see that there is no difference of employed candidate functions
in chattering reduction performance. On the other hand, in slip
suppression performance, the saturation function is excellent overall.
So, we conclude the saturation function is most suitable for slip
suppression sliding mode control.
[1] A. G. Mamalis, K. N. Spentzas and A. A. Mamali, The Impact of
Automotive Industry and Its Supply Chain to Climate Change: Somme
Techno-economic Aspects, European Transport Research Review, Vol.5,
No.1, 2013, pp.1–10.
[2] H. Tseng and J. S. Wu and X. Liu, Affordability of Electric Vehicle for a
Sustainable Transport System: An Economic and Environmental Analysis,
Energy Policy, Vol.61, 2013, pp.441–447.
[3] A. T. Zanten, R. Erhardt and G. Pfaff, VDC; The Vehicle Dynamics
Control System of Bosch, Proc. Society of Automotive Engineers
International Congress and Exposition, 1995, Paper No. 950759.
[4] K. Kin, O. Yano and H. Urabe, Enhancements in Vehicle Stability and
Steerability with VSA, Proc. JSME TRANSLOG 2001, 2001, pp.407–410
(in Japanese).
[5] K. Sawase, Y. Ushiroda and T. Miura, Left-Right Torque Vectoring
Technology as the Core of Super All Wheel Control (S-AWC), Mitsubishi
Motors Technical Review , No.18, 2006, pp.18–24 (in Japanese).
[6] S. Kodama, L. Li and H. Hori, Skid Prevention for EVs based on the
Emulation of Torque Characteristics of Separately-wound DC Motor,
Proc. The 8th IEEE International Workshop on Advanced Motion Control
, VT-04-12, 2004, pp.75–80.
[7] M. Mubin, S. Ouchi, M. Anabuki and H. Hirata, Drive Control of
an Electric Vehicle by a Non-linear Controller, IEEJ Transactions on
Industry Applications , Vol.126, No.3, 2006, pp.300–308 (in Japanese).
[8] K. Fujii and H. Fujimoto, Slip ratio control based on wheel control
without detection of vehicle speed for electric vehicle, IEEJ Technical
Meeting Record, VT-07-05, 2007, pp.27–32 (in Japanese).
[9] S. Li, K. Nakamura, T. Kawabe and K. Morikawa, A Sliding Mode
Control for Slip Ratio of Electric Vehicle, Proc. of SICE Annual
Conference 2012, pp.1974–1979.
[10] I. Eker and A. Akinal, Sliding Mode Control with Integral
Augmented Sliding Surface: Design and Experimental Application to
an Electromechanical system, Electrical Engineering, Vol.90, 2008,
pp.189–197.
[11] S. Li and T. Kawabe, Slip Suppression of Electric Vehicles Using Sliding
Mode Control Method, International Journal of Intelligent Control and
Automation, Vol.4, No.3, 2013, pp.327–334.
[12] V. Utkin, Variable Structure Systems with Sliding Modes, IEEE
Transactions on Automatic Control, Vol. 22, No. 2, 1977, pp. 212-222.
[13] V. Utkin, Sliding Modes and Their Applications in Variable Structure
Systems, Mir Publishers, USSR, 1978.
[14] U. M. Ch, Y. S. K. Babu and K. Amaresh, Sliding Mode Speed
Control of a DC Motor, Proc. of 2011 International Conference on
Communication Systems and Network Technologies, 2011, pp. 387-391.
[15] K. Nakano, U. Sawut, K. Higuchi and Y. Okajima, Modelling and
Observer-based Sliding-mode Control of Electronic Throttle Systems,
Transaction on Electrical Engineering, Electronics and Communications,
Vol. 4, No. 1, 2006, pp. 22-28.
[16] Y. Li, J. O. Lee and J. Lee, Attitude Control of the Unicycle Robot Using
Fuzzy-sliding Mode Control, Proc. of the 5th International Conference
on Intelligent Robotics and Applications, Vol. 3, 2012, pp. 62-72.
[17] J. E. Slotine, W. Li, Applied Nonlinear Control, Prentice Hall, 1991,
USA.
[18] H. B. Pecejka and E. Bakker, The Magic Formula Tyre Model, Proc. of
the 1st International Colloquium on Tyre Models for Vehicle Dynamics
Analysis, 1991, pp. 1-18.
[19] Y. Hori, Simulation of MFC-Based Adhesion Control of 4WD Electric
Vehicle, IEEJ Record of Industrial Measurement and Control, Vol. IIC-00,
No. 1-23, 2000, pp. 67-72 (in Japanese).
[1] A. G. Mamalis, K. N. Spentzas and A. A. Mamali, The Impact of
Automotive Industry and Its Supply Chain to Climate Change: Somme
Techno-economic Aspects, European Transport Research Review, Vol.5,
No.1, 2013, pp.1–10.
[2] H. Tseng and J. S. Wu and X. Liu, Affordability of Electric Vehicle for a
Sustainable Transport System: An Economic and Environmental Analysis,
Energy Policy, Vol.61, 2013, pp.441–447.
[3] A. T. Zanten, R. Erhardt and G. Pfaff, VDC; The Vehicle Dynamics
Control System of Bosch, Proc. Society of Automotive Engineers
International Congress and Exposition, 1995, Paper No. 950759.
[4] K. Kin, O. Yano and H. Urabe, Enhancements in Vehicle Stability and
Steerability with VSA, Proc. JSME TRANSLOG 2001, 2001, pp.407–410
(in Japanese).
[5] K. Sawase, Y. Ushiroda and T. Miura, Left-Right Torque Vectoring
Technology as the Core of Super All Wheel Control (S-AWC), Mitsubishi
Motors Technical Review , No.18, 2006, pp.18–24 (in Japanese).
[6] S. Kodama, L. Li and H. Hori, Skid Prevention for EVs based on the
Emulation of Torque Characteristics of Separately-wound DC Motor,
Proc. The 8th IEEE International Workshop on Advanced Motion Control
, VT-04-12, 2004, pp.75–80.
[7] M. Mubin, S. Ouchi, M. Anabuki and H. Hirata, Drive Control of
an Electric Vehicle by a Non-linear Controller, IEEJ Transactions on
Industry Applications , Vol.126, No.3, 2006, pp.300–308 (in Japanese).
[8] K. Fujii and H. Fujimoto, Slip ratio control based on wheel control
without detection of vehicle speed for electric vehicle, IEEJ Technical
Meeting Record, VT-07-05, 2007, pp.27–32 (in Japanese).
[9] S. Li, K. Nakamura, T. Kawabe and K. Morikawa, A Sliding Mode
Control for Slip Ratio of Electric Vehicle, Proc. of SICE Annual
Conference 2012, pp.1974–1979.
[10] I. Eker and A. Akinal, Sliding Mode Control with Integral
Augmented Sliding Surface: Design and Experimental Application to
an Electromechanical system, Electrical Engineering, Vol.90, 2008,
pp.189–197.
[11] S. Li and T. Kawabe, Slip Suppression of Electric Vehicles Using Sliding
Mode Control Method, International Journal of Intelligent Control and
Automation, Vol.4, No.3, 2013, pp.327–334.
[12] V. Utkin, Variable Structure Systems with Sliding Modes, IEEE
Transactions on Automatic Control, Vol. 22, No. 2, 1977, pp. 212-222.
[13] V. Utkin, Sliding Modes and Their Applications in Variable Structure
Systems, Mir Publishers, USSR, 1978.
[14] U. M. Ch, Y. S. K. Babu and K. Amaresh, Sliding Mode Speed
Control of a DC Motor, Proc. of 2011 International Conference on
Communication Systems and Network Technologies, 2011, pp. 387-391.
[15] K. Nakano, U. Sawut, K. Higuchi and Y. Okajima, Modelling and
Observer-based Sliding-mode Control of Electronic Throttle Systems,
Transaction on Electrical Engineering, Electronics and Communications,
Vol. 4, No. 1, 2006, pp. 22-28.
[16] Y. Li, J. O. Lee and J. Lee, Attitude Control of the Unicycle Robot Using
Fuzzy-sliding Mode Control, Proc. of the 5th International Conference
on Intelligent Robotics and Applications, Vol. 3, 2012, pp. 62-72.
[17] J. E. Slotine, W. Li, Applied Nonlinear Control, Prentice Hall, 1991,
USA.
[18] H. B. Pecejka and E. Bakker, The Magic Formula Tyre Model, Proc. of
the 1st International Colloquium on Tyre Models for Vehicle Dynamics
Analysis, 1991, pp. 1-18.
[19] Y. Hori, Simulation of MFC-Based Adhesion Control of 4WD Electric
Vehicle, IEEJ Record of Industrial Measurement and Control, Vol. IIC-00,
No. 1-23, 2000, pp. 67-72 (in Japanese).
@article{"International Journal of Information, Control and Computer Sciences:76285", author = "Shun Horikoshi and Tohru Kawabe", title = "Slip Suppression Sliding Mode Control with Various Chattering Functions", abstract = "This study presents performance analysis results of
SMC (Sliding mode control) with changing the chattering functions
applied to slip suppression problem of electric vehicles (EVs). In
SMC, chattering phenomenon always occurs through high frequency
switching of the control inputs. It is undesirable phenomenon and
degrade the control performance, since it causes the oscillations of the
control inputs. Several studies have been conducted on this problem
by introducing some general saturation function. However, study
about whether saturation function was really best and the performance
analysis when using the other functions, weren’t being done so much.
Therefore, in this paper, several candidate functions for SMC are
selected and control performance of candidate functions is analyzed.
In the analysis, evaluation function based on the trade-off between
slip suppression performance and chattering reduction performance
is proposed. The analyses are conducted in several numerical
simulations of slip suppression problem of EVs. Then, we can
see that there is no difference of employed candidate functions
in chattering reduction performance. On the other hand, in slip
suppression performance, the saturation function is excellent overall.
So, we conclude the saturation function is most suitable for slip
suppression sliding mode control.", keywords = "Sliding mode control, chattering function, electric
vehicle, slip suppression, performance analysis.", volume = "11", number = "9", pages = "1017-7", }