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Actuators
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Modeling and Control for Chassis Devices in Electric Vehicles
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Modeling and Control for Chassis Devices in Electric Vehicles

A special issue of Actuators (ISSN 2076-0825). This special issue belongs to the section "Actuators for Land Transport".

Deadline for manuscript submissions: closed (10 December 2024) | Viewed by 7596

Special Issue Editors

Dr. Seongjin Yim

E-Mail Website
Guest Editor
Department of Mechanical and Automotive Engineering, Seoul National University of Science and Technology, 232 Gongneung-ro, Nowon-gu, Seoul 139-743, Republic of Korea
Interests: vehicle dynamics and control; state and parameter estimation; steer-by-wire; integrated chassis control with V2X communication
Special Issues, Collections and Topics in MDPI journals
Dr. Kanghyun Nam

E-Mail Website
Guest Editor
School of Mechanical Engineering, Yeungnam University, Gyeongsan 38541, Republic of Korea
Interests: vehicle dynamics and motion control; in-wheel-motor EV; steer-by-wire system control; traction control and stability control of EVs
Special Issues, Collections and Topics in MDPI journals

Special Issue Information

Dear Colleagues,

You are invited to submit papers to a Special Issue of Actuators on “Modeling and Control for Chassis Devices in Electric Vehicles”. The most notable innovation in electric vehicles (EVs) is the electric power source. The electric power common in EVs has changed classical chassis devices such as steering, braking and suspension in vehicles with a internal combustion engine. This trend requires new modeling and control techniques with motor-driven actuators for EVs. A representative example is in-wheel motors or the e-corner module, equipped with an electro-mechanical brake (EMB), motor-driven active suspension and steer-by-wire devices. These devices and their combinations can be used for specialized functions such as ABS, TCS, ESC and rollover prevention control. In addition to the control of each device in EVs, it is also necessary to integrate them for path tracking, vehicle stability and ride comfort enhancement. In addition to those devices themselves, the modeling and control of sensors and actuators used for those devices are also needed. All these factors should be properly considered in studies on modeling and control for chassis devices in EVs.The topics that will be considered include, but are not limited to, the following:

  • Modeling on new types of actuators for EVs;
  • State and parameter estimation for EVs;
  • Motor-driven ABS, TCS and ESC for EVs;
  • Advanced steering control for EVs;
  • Active/semi-active suspension control for EVs;
  • Coordinated control with multiple actuators for EVs;
  • Path tracking control with multiple actuators for EVs;
  • Energy-saving control and optimization for EVs;
  • Fault-tolerant control for EVs

This topic will handle issues in the modeling and control of actuators, which originate from chassis devices such as the electro-mechanical brake, motor-driven active suspension and steer-by-wire. These devices should be controlled for specialized functions such as ABS, TCS, ESC and rollover prevention in real electric vehicles. For the reason, this topic fits well in the scope of “Actuators”.

Dr. Seongjin Yim
Dr. Kanghyun Nam
Guest Editors

Manuscript Submission Information

Manuscripts should be submitted online at www.mdpi.com by registering and logging in to this website. Once you are registered, click here to go to the submission form. Manuscripts can be submitted until the deadline. All submissions that pass pre-check are peer-reviewed. Accepted papers will be published continuously in the journal (as soon as accepted) and will be listed together on the special issue website. Research articles, review articles as well as short communications are invited. For planned papers, a title and short abstract (about 100 words) can be sent to the Editorial Office for announcement on this website.

Submitted manuscripts should not have been published previously, nor be under consideration for publication elsewhere (except conference proceedings papers). All manuscripts are thoroughly refereed through a single-blind peer-review process. A guide for authors and other relevant information for submission of manuscripts is available on the Instructions for Authors page. Actuators is an international peer-reviewed open access monthly journal published by MDPI.

Please visit the Instructions for Authors page before submitting a manuscript. The Article Processing Charge (APC) for publication in this open access journal is 2400 CHF (Swiss Francs). Submitted papers should be well formatted and use good English. Authors may use MDPI's English editing service prior to publication or during author revisions.

Keywords

  • vehicle chassis devices
  • dynamic modeling and control
  • state/parameter estimation
  • coordinated control
  • fault-tolerant control
  • ride comfort

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Related Special Issue

Published Papers (8 papers)

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Research

19 pages, 4728 KiB  
Article
Dynamic Envelope Optimization of Articulated Vehicles Based on Multi-Axle Steering Control Strategies
by Zhaocong Sun, Shizhi Yang, Joshua H. Meng, Chi Zhang, Zhousen Cui, Heqian Wang and Wenjun Wang
Actuators 2025, 14(2), 45; https://doi.org/10.3390/act14020045 - 22 Jan 2025
Viewed by 269
Abstract
Steer-by-wire technology, critical for autonomous driving, enables full-wheel steering in articulated vehicles, significantly enhancing maneuverability in complex driving environments. This study investigates dynamic envelope optimization for articulated multi-body vehicles by integrating coordinated multi-axle steering control strategies with higher-order Bezier curve designs. Unlike traditional [...] Read more.
Steer-by-wire technology, critical for autonomous driving, enables full-wheel steering in articulated vehicles, significantly enhancing maneuverability in complex driving environments. This study investigates dynamic envelope optimization for articulated multi-body vehicles by integrating coordinated multi-axle steering control strategies with higher-order Bezier curve designs. Unlike traditional approaches that primarily focus on single-axle steering, this research emphasizes the advantages of multi-axle steering control, which significantly reduces the dynamic envelope and enhances maneuverability. To address the challenges posed by constrained road environments, a comparative analysis of Septimic Bezier curves under various control point configurations was conducted, demonstrating their effectiveness in achieving smoother curvature transitions and steering comfort. The results highlight the pivotal role of reducing curvature peaks and increasing curvature continuity in optimizing vehicle performance. Furthermore, advanced steering control strategies, such as Articulation Angle Reference (AAR) and Dual Ackermann Steering (DAS), were shown to outperform conventional methods by ensuring precise trajectory control and improved stability. This study provides actionable insights for enhancing vehicle handling and safety in complex driving scenarios, offering a framework for future road design and multi-axle steering system development. Full article
(This article belongs to the Special Issue Modeling and Control for Chassis Devices in Electric Vehicles)
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21 pages, 6132 KiB  
Article
Self-Sensing Approach for Semi-Active Control of Variable Damping Electromagnetic Suspension System
by Chao Fu, Pengfei Liu, Jianqiang Yu, An Qin and Donghong Ning
Actuators 2024, 13(12), 480; https://doi.org/10.3390/act13120480 - 27 Nov 2024
Viewed by 581
Abstract
This paper combines the Kalman filter observer with self-sensing technology and integrates it into the electromagnetic damper (EMD), estimating the displacement and velocity of the EMD based on the three-phase voltage generated by the permanent magnet synchronous motor (PMSM). The self-sensing performance of [...] Read more.
This paper combines the Kalman filter observer with self-sensing technology and integrates it into the electromagnetic damper (EMD), estimating the displacement and velocity of the EMD based on the three-phase voltage generated by the permanent magnet synchronous motor (PMSM). The self-sensing performance of the EMD is verified through theoretical analysis and experimental results. A vehicle suspension vibration control system composed of one-quarter vehicle electromagnetic suspension (EMS), a acceleration damping driven control (ADDC) algorithm, and a vibration excitation platform is established to test the vibration control performance of the self-sensing EMS. The experimental results show that under random road excitation, compared to passive suspension, the self-sensing-based ADDC reduced the vehicle vertical acceleration of the vehicle suspension, with a 28.92% decrease in the root mean square (RMS) value of the vehicle vertical acceleration. This verifies the effectiveness of the self-sensing capability of the EMS system. Incorporating self-sensing technology into the EMS system improves the vibration reduction performance of the suspension. Full article
(This article belongs to the Special Issue Modeling and Control for Chassis Devices in Electric Vehicles)
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13 pages, 6930 KiB  
Article
Development of Electro-Mechanical Actuator for Wheel Steering of Railway Vehicles
by Hyun Moo Hur, Jung Won Seo, Kyung Ho Moon and Jong Hyun Choi
Actuators 2024, 13(11), 460; https://doi.org/10.3390/act13110460 - 15 Nov 2024
Viewed by 653
Abstract
We developed an electro-mechanical actuator for use as a steering device for railway vehicles. The specifications for a 50 kN-class electro-mechanical actuator capable of steering control for a sharp of a railway radius curve of up to 250 m, and with Direct Drive [...] Read more.
We developed an electro-mechanical actuator for use as a steering device for railway vehicles. The specifications for a 50 kN-class electro-mechanical actuator capable of steering control for a sharp of a railway radius curve of up to 250 m, and with Direct Drive motor (DD motor) specifications, were derived as a power source to drive it. The DD motor and an electric mechanical steering actuator equipped with it were designed and a prototype was manufactured. As a result of testing laboratory tests on motor and actuator prototypes, all performance requirements were satisfied. We conducted a field test on the actuator prototype by installing it on a railway vehicle to verify the steering angle performance. The steering action of the actuator worked well when running in curved sections, and the steering angles measured for each curve were in line with the target steering angles. The mean error between the target steering angle and the measured steering angle was only 3.4%, indicating that the wheel steering action of the developed steering system was working very well. Therefore, the developed electro-mechanical actuator is expected to be fully utilized as a steering device for railway vehicles by meeting all the performance requirements of the steering system. Full article
(This article belongs to the Special Issue Modeling and Control for Chassis Devices in Electric Vehicles)
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25 pages, 8309 KiB  
Article
An Analysis of and Improvements in the Gear Conditions of the Automated Mechanical Transmission of a Battery Electric Vehicle Considering Energy Consumption and Power Performance
by Huang Xu, Mengchen Yang, Zhun Cheng and Xiaoping Su
Actuators 2024, 13(11), 432; https://doi.org/10.3390/act13110432 - 26 Oct 2024
Viewed by 857
Abstract
The design of the gear quantity and transmission parameters of a vehicle has large effects on its economical and power performance. This paper mainly researches the gear conditions (including the gear quantity and each gear’s transmission parameters) of two-gear and three-gear AMT (Automated [...] Read more.
The design of the gear quantity and transmission parameters of a vehicle has large effects on its economical and power performance. This paper mainly researches the gear conditions (including the gear quantity and each gear’s transmission parameters) of two-gear and three-gear AMT (Automated Mechanical Transmission). This research uses Cruise software to build a multi-gear simulation model of a BEV (Battery Electric Vehicle) and adopts the LHS (Latin hypercube sampling) method to design an experiment plan and conduct a simulation experiment. This paper proposes a systematic method for influencing factor analyses and the optimization of transmission parameters, combining fuzzy theory, multiple regression, and particle swarm optimization. The research results show that the gear quantity allowing for optimal overall performance is three. The highest score obtained in the results of the simulation experiment for three-gear AMT is 11.15% higher than that of the two-gear AMT. The optimal design plan for the two-gear AMT is a small ig1 with a big k1, in which case the highest score of the regression model increases by 2.67% compared with that before modeling. The optimal design plan for the three-gear AMT is a big k1 with a big k2, in which case the highest score of the regression model increases by 12.78% compared with that before modeling. Then, this research uses PSO (particle swarm optimization) to further optimize the regression models and compares the difference between the highest scores in the results of the simulation experiment. The difference between the highest scores of the three-gear and two-gear AMT further increases to 21.95% after optimization. As shown in the results, the key factor influencing the performance of two-gear and three-gear AMT is gear quantity. Full article
(This article belongs to the Special Issue Modeling and Control for Chassis Devices in Electric Vehicles)
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21 pages, 8152 KiB  
Article
Research on Coordinated Control of Vehicle Inertial Suspension Using the Dynamic Surface Control Theory
by Yanhui Zhao, Fu Du, Hujiang Wang, Xuelin Wang, Xiaofeng Yang, Dongyin Shi, Vancuong Bui and Tianyi Zhang
Actuators 2024, 13(10), 389; https://doi.org/10.3390/act13100389 - 2 Oct 2024
Viewed by 751
Abstract
In the process of driving, the steering, braking, and driving conditions and different road conditions affect the vibration characteristics of the vehicle in the vertical, roll, and pitch directions. These factors greatly impact the riding comfort of the vehicle. Among them, the uneven [...] Read more.
In the process of driving, the steering, braking, and driving conditions and different road conditions affect the vibration characteristics of the vehicle in the vertical, roll, and pitch directions. These factors greatly impact the riding comfort of the vehicle. Among them, the uneven distribution of vertical load between the left and right or the front and rear suspension is one of the important factors affecting the performance indicators of the vehicle’s roll angle acceleration and pitch angle acceleration. In order to improve the ride comfort of the vehicle in vertical, roll, and pitch motion, the inerter is introduced in this paper to form a new type of suspension structure with the “spring-damping” base element, inertial suspension. It breaks away from the traditional “spring-damping” base element of the inherent suspension structure. In this paper, the mechatronic inerter is taken as the actual controlled object, and the inertial suspension structure is considered as the controlled model based on the dynamic surface control theory and the pseudo-inverse matrix principle. Thus, the coordinated control of the inertial suspension can be achieved. Under random road input, compared with passive suspension, the ride comfort performance indicators of the vehicle with inertial suspension based on dynamic surface control are significantly improved. Finally, a Hardware-in-the-Loop (HiL) test of the controller based on dynamic surface control is carried out to verify that the performance of the vehicle inertial suspension using the dynamic surface control algorithm had improved in terms of vehicle ride comfort. The error between the experimental results and the simulation results is about 8%, which verifies the real-time performance and effectiveness of the dynamic surface controller in the real controller. Full article
(This article belongs to the Special Issue Modeling and Control for Chassis Devices in Electric Vehicles)
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19 pages, 8901 KiB  
Article
Design of a Suspension Controller with an Adaptive Feedforward Algorithm for Ride Comfort Enhancement and Motion Sickness Mitigation
by Jinwoo Kim and Seongjin Yim
Actuators 2024, 13(8), 315; https://doi.org/10.3390/act13080315 - 20 Aug 2024
Cited by 3 | Viewed by 838
Abstract
This paper presents a design method of a suspension controller with an adaptive feedforward algorithm for ride comfort enhancement and motion sickness mitigation. Recently, it was shown that motion sickness is caused by combined heave and pitch motions of a sprung mass within [...] Read more.
This paper presents a design method of a suspension controller with an adaptive feedforward algorithm for ride comfort enhancement and motion sickness mitigation. Recently, it was shown that motion sickness is caused by combined heave and pitch motions of a sprung mass within the range of 0.8 and 8 Hz. For this reason, it is necessary to design a suspension controller for the purpose of reducing the heave and pitch vibration of a sprung mass within this range. To represent the heave acceleration and the pitch rate of a sprung mass, a 4-DOF half-car model is adopted as a vehicle model. For easy implementation in a real vehicle, a static output feedback control is adopted instead of a full-state one. To reduce the heave acceleration of a sprung mass for ride comfort enhancement, a linear quadratic SOF controller is designed. To reduce the pitch rate of a sprung mass for motion sickness mitigation, a filtered-X LMS algorithm is applied. To validate the method, simulation on vehicle simulation software is conducted. From the simulation results, it is shown that the proposed method is effective for ride comfort enhancement and motion sickness mitigation. Full article
(This article belongs to the Special Issue Modeling and Control for Chassis Devices in Electric Vehicles)
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13 pages, 7557 KiB  
Article
Modeling and Control of a Road Wheel Actuation Module in Steer-by-Wire System
by Insu Chung, Jungdai Choi and Kanghyun Nam
Actuators 2024, 13(8), 311; https://doi.org/10.3390/act13080311 - 14 Aug 2024
Viewed by 1162
Abstract
Since the steer-by-wire system removes the mechanical connection and uses electrical signals to drive the system, it has the disadvantage of being less stable in the failure of parts or systems. Therefore, in this paper, we present a methodology for developing a digital [...] Read more.
Since the steer-by-wire system removes the mechanical connection and uses electrical signals to drive the system, it has the disadvantage of being less stable in the failure of parts or systems. Therefore, in this paper, we present a methodology for developing a digital model of the road wheel actuator of the steer-by-wire system. First, the detailed dynamics of the road wheel actuator are analyzed and simplified, and the friction model is estimated and compensated to obtain the equilibrium inertia and damping coefficient of the motor and the road wheel actuator. And to verify the accuracy of the digital model developed based on these parameters, the outputs are compared by giving the same inputs under open-loop control. Furthermore, to solve the problem caused by nonlinear disturbance and model uncertainty, a disturbance observer-based position controller is proposed. The validity of the proposed controller and the validity of the digital model development methodology are confirmed by the results of the position control experiment. Full article
(This article belongs to the Special Issue Modeling and Control for Chassis Devices in Electric Vehicles)
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15 pages, 7346 KiB  
Article
Dynamic Modeling and Control of a 4-Wheel Narrow Tilting Vehicle
by Sunyeop Lee, Hyeonseok Cho and Kanghyun Nam
Actuators 2024, 13(6), 210; https://doi.org/10.3390/act13060210 - 4 Jun 2024
Viewed by 1557
Abstract
The automotive industries currently face challenges such as emission limits, traffic congestion, and limited parking, which have prompted shifts in consumer preferences and modern passenger vehicle requirements towards compact vehicles. However, given the inherent limited width of compact vehicles, the potential risk of [...] Read more.
The automotive industries currently face challenges such as emission limits, traffic congestion, and limited parking, which have prompted shifts in consumer preferences and modern passenger vehicle requirements towards compact vehicles. However, given the inherent limited width of compact vehicles, the potential risk of vehicle rollover is greater than that of regular vehicles. This paper addresses the safety concerns associated with vehicle rollover, focusing on narrow tilting vehicles (NTVs). Quantifying stability involves numerical indicators such as the lateral load transfer ratio (LTR). Additionally, a unique approach is taken by applying ZMP (zero moment point), commonly used in the robotics field, as an indicator of vehicle stability. Effective roll control requires a detailed analysis of the vehicle’s characteristic model and the derivation of lateral and roll dynamics. The paper presents the detailed roll dynamics of an NTV with a MacPherson strut-type suspension. A stability-enhancing method is proposed using a cascade structure based on the internal robust position controller and outer roll stability controller, addressing challenges posed by disturbances. Experimental verification using Simscape Multibody and CarSim validates the dynamic model and controller’s effectiveness, ensuring the reliability of the proposed tilting control for NTVs in practical scenarios. Full article
(This article belongs to the Special Issue Modeling and Control for Chassis Devices in Electric Vehicles)
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