Abstract
The hub motor is applied to new energy vehicles due to its excellent performance, but it increases the unsprung mass and changes the tire dynamic characteristics of the vehicle. This change makes the front wheel shimmy phenomenon more prone to occur, further influences the vehicle's stability, comfort, fuel efficiency, safety. Therefore, it is highly necessary to apply modern control theory to the shimmy control. This paper addresses the issue of front wheel shimmy occurring when electric-wheel vehicles are traveling on roads, as well as the problem of unknown measurement errors in sensors. We established a one-degree-of-freedom model for front wheel shimmy, derived its state equations, and designed a state observer and output feedback controller based on homogeneous domination control theory. Using the Lyapunov function method, it is proven that the designed controller can globally asymptotically stabilize the system . Finally, the designed homogeneous domination controller for the front wheel shimmy system was simulated via MATLAB, and compared with sliding mode control. The results demonstrate that the proposed method in this paper can effectively eliminate the front wheel shimmy phenomenon with good robustness.
DOI: 10.61416/ceai.v26i3.9112