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Mathematical Problems in Engineering
Volume 2014, Article ID 240857, 10 pages
Research Article

Study on Adaptive Slid Mode Controller for Improving Handling Stability of Motorized Electric Vehicles

State Key Laboratory of Automotive Dynamic Simulation, Jilin University, Changchun 130022, China

Received 21 September 2014; Revised 4 November 2014; Accepted 4 November 2014; Published 26 November 2014

Academic Editor: Hui Zhang

Copyright © 2014 LiQiang Jin and Yue Liu. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


An adaptive slid mode controller was established for improving the handling stability of motorized electric vehicle (MEV). First and foremost, the structure and advantages of electric vehicle driven by in-wheel motors will be provided. Then, an ideal cornering model of vehicles will be brought and analyzed, after which a method to estimate side-slip angle was also proposed and three typical sensors were used in the theory. Besides, an idea for the recognition of road adhesion coefficient was derived based on MEV platform, which will be helpful for better control performances. Finally, the scheme of control method was given and some typical tests for observing handling properties were implemented based on Simulink and Carsim software. With the outcomes from the experiments, which vividly showed the merits of the controller, one can come to a conclusion that MEV that equips with the adaptive slid mode controller always enjoys better handling performances than the one without control. Furthermore, the controller researched is friendly to the real-time working conditions, which will hold practical values in the future.