An Electronic Line-Shafting Control Strategy Based on Sliding Mode Observer for Distributed Driving Electric Vehicles

Huang, Hao; Tu, Qunzhang; Jiang, Chengming; Pan, Ming; Zhu, Changlin · 2021 · DOAJ

DOI: 10.1109/ACCESS.2021.3062829

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Summary

This paper addresses the control challenges inherent in distributed driving electric vehicles (DDEVs), which utilize in-wheel motors to eliminate mechanical transmission components like gearboxes and differentials. While this configuration offers high space utilization and precise control, it introduces three critical issues: speed deviations due to variable torque on rough terrain, inconsistent motor responses caused by parameter variations (vibration, temperature, aging), and potential instability from suboptimal control strategies. To resolve these problems, the authors propose a novel Electronic Line-Shafting (ELS) control strategy combined with a Nonsingular Terminal Sliding Mode Control (NTSMC) and a Sliding Mode Observer (SMO). The methodology involves a hierarchical control approach. First, an ELS strategy based on a Total-Amount Coordinated Control (TACC) algorithm is implemented to achieve synchronous cooperative control of the multi-motor system. This treats a virtual electronic shaft as a master, adjusting individual motor speeds to minimize error relative to the command. Second, for single-motor precision, an NTSMC is applied to ensure finite-time convergence of control errors and improved response speed. To mitigate the chattering phenomenon typical of sliding mode control, a fuzzy algorithm is employed to adjust the NTSMC control parameters in real-time. Additionally, a load torque observer based on SMO is designed to estimate and compensate for external disturbances and load torque fluctuations. The system was modeled using Carsim and Simulink, with the Permanent Magnet In-Wheel Motor (PMIWM) dynamics simplified for control design. Simulation and experimental results demonstrate that the proposed strategies effectively realize ideal collaborative control for the multi-motor system. The ELS method successfully synchronizes the in-wheel motors, optimizing control accuracy and anti-interference capabilities. The integration of NTSMC with the fuzzy algorithm significantly reduces chattering while maintaining robustness, thereby enhancing the dynamic performance of individual motors. Furthermore, the SMO-based load torque observer effectively compensates for external disturbances, improving the overall stability of the DDEV. The significance of this work lies in its comprehensive solution to the synchronization and robustness challenges of DDEVs. By combining cooperative control (ELS) with advanced single-motor control (NTSMC, fuzzy tuning, and SMO), the study provides a framework that enhances both the safety and control precision of distributed drive systems. This approach addresses the limitations of previous methods that failed to handle variable external disturbances or parameter variations effectively, offering a viable path for improving the reliability and performance of next-generation electric vehicles.

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