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ELECTRONIC STABILITY CONTROL FOR ELECTRIC VEHICLE WITH FOUR IN-WHEEL MOTORS
B.-C. CHEN,C.-C. KUO 한국자동차공학회 2014 International journal of automotive technology Vol.15 No.4
The electric vehicle with four direct-driven in-wheel motors is an over actuated system. A three-level controlstrategy of electronic stability control (ESC) is proposed to achieve optimal torque distribution for four in-wheel motors. Thefirst level is a gain-scheduled linear quadratic regulator which is designed to generate the desired yaw moment command forESC. Control allocation is the second level which is used to distribute the desired longitudinal tire forces according to the yawmoment command while satisfying the driver’s intent for acceleration and deceleration. The associated weighting matrix isdesigned using the work load ratio at each wheel to prevent saturating the tire. The third level is slip ratio control (SRC) whichis employed at each wheel to generate the desired longitudinal tire force based on a combined-slip tire model. Simulationresults show that the proposed method can enhance the ESC performance for the test maneuvers. Since the tire model is oftenunknown for practical implementation, the effectiveness of the SRC is studied using the sine with dwell test. It is found thatthe SRC is not crucial for achieving performance similar to the proposed method with SRC, if the slip ratio can be maintainedin the stable region using traction control system/anti-lock braking system.
Juergen Kneissl,Alexander Lion,Felix Breuer,Stefan Pfund,Philipp Wagner,Thomas Ille,Carsten Intra 한국자동차공학회 2022 International journal of automotive technology Vol.23 No.1
The development of commercial vehicle technology is strongly influenced by the trends of new drives and automation. In order to develop new drive train concepts and associated operating strategies, a simulation methodology was created. It includes among others a high-level controller, the torque distributing operation strategy, various drive components, a modular vehicle dynamics model and tire models. The individual components of the methodology are structured in appropriate software tools and are linked by co-simulation methods. The modular structure of the methodology and the fixed parameter transfer allows the exchange, omission and targeted improvement of individual components. Thus, an operation strategy could be developed, which propels different vehicle concepts with optimized traction. It is based on the control allocation approach and includes besides an optimization algorithm also situation-specific weightings of different control objectives. The modular structure of the control approach allows it to be embedded in both central, integratied and decentralized, hirachical control structures. Furthermore, the control of wheel- and axle-selective drive trains as well as the control of fully electric and hybrid driveline concepts is possible with only a few modifications. The potential of the control approach as well as the methodology is demonstrated among others by the driving manoeuvre of a virtual 6 × 6 commercial vehicle with individual wheel drive in a μlow scenario.
INTEGRATED STABILITY CONTROL STRATEGY OF IN-WHEEL MOTOR DRIVEN ELECTRIC BUS
Wenwei Wang,Wei Zhang,Yifan Zhao 한국자동차공학회 2020 International journal of automotive technology Vol.21 No.4
Taking the independently actuated in-wheel motor driven electric bus as the research object, an integrated control strategy of yaw stability and roll stability is proposed. On the basis of the upper and lower layered structure, the stability monitoring layer is added to the control strategy, which is responsible for calculating the desired value of the vehicle\'s critical state and determining the vehicle stability control mode. The upper controller is the yaw moment decision layer. To improve the robustness, the sliding mode control is used to calculate the additional yaw moment required for yaw and roll stability, and the Lyapunov method is used to prove the convergence of the algorithm. The lower controller is the torque distribution layer, which uses the active-set algorithm and combines the motor torque and the braking torque of the braking system to optimally distribute the yaw moment. The proposed control strategy is verified through the co-simulation platform of Trucksim and Simulink. The results show that the control strategy can coordinate the various control modes well, improve the tracking ability of the vehicle, and reduce the risk of side slip and rollover of the vehicle.
HIERARCHICAL DIRECT YAW-MOMENT CONTROL SYSTEM DESIGN FOR IN-WHEEL MOTOR DRIVEN ELECTRIC VEHICLE
Shi Yue,Yu Fan 한국자동차공학회 2018 International journal of automotive technology Vol.19 No.4
In this study, a hierarchical structured direct yaw-moment control (DYC) system, which consists of a main-loop controller and a servo-loop controller, is designed to enhance the handling and stability of an in-wheel motor driven driven electric vehicle (IEV). In the main loop, a Fractional Order PID (FO-PID) controller is proposed to generate desired external yaw moment. A modified Differential Evolution (M-DE) algorithm is adopted to optimize the controller parameters. In the servo-loop controller, the desired external yaw moment is optimally distributed to individual wheel torques by using sequential quadratic programming (SQP) approach, with the tire force boundaries estimated by Unscented Kalman Filter (UKF) based on a fitted empirical tire model. The IEV prototype is virtually modelled by using Adams/Car collaborating with SolidWorks, validated by track tests, and serves as the control plant for simulation. The feasibility and effectiveness of the designed control system are examined by simulations in typical handling maneuver scenarios.