Experimental demonstration of body slip angle control based on a novel linear observer for electric vehicle

In this paper, a body slip angle observer based on yaw rate /spl gamma/ and side acceleration a/sub y/, and a novel control method of body slip angle /spl beta/ are proposed. Body slip angle observer is robust against parameter variation and change of road. Some experimental results by UOT MarchII (Fig.1) are shown to verify the effectiveness of the proposed observer. Next, we proposed new control methods for 2-dimension control. We control beta by yaw moment with PID controller. This method is known as DYC (direct yaw moment control) in internal combustion engine vehicles (ICVs). However, the torque difference can be generated directly with in-wheel motors. We performed experiments by UOT MarchII. The experimental results proved that our proposed method was good.