Optimal Torque Distribution for the Stability Improvement of a Four-Wheel Distributed-Driven Electric Vehicle Using Coordinated Control

2016 ◽  
Vol 11 (5) ◽  
Author(s):  
Xizheng Zhang ◽  
Kexiang Wei ◽  
Xiaofang Yuan ◽  
Yongqi Tang
Keyword(s):  
Electric Vehicle ◽  
Sliding Mode ◽  
Single Point ◽  
Coordinated Control ◽  
Least Square ◽  
Vehicle Stability ◽  
Tracking Accuracy ◽  
Torque Distribution ◽  
Lqr Problem ◽  
The Stability

This paper presented an optimal torque distribution scheme for the stability improvement of a distributed-driven electric vehicle (DEV). The nonlinear dynamics and tire model of the DEV are constructed. Moreover, the single-point preview optimal curvature model with the proportional-integral-derivative (PID) process is developed to simulate the driver's behavior. By using coordinated control and sliding mode control, a three-layer hierarchical control system was developed. In the upper level, the integral two degree-of-freedom (DOF) linear model is used to compute the equivalent yaw moment for vehicle stability. With the actuators' restrictions, the middle level solved the linear quadratic regulator (LQR) problem via a weighted least square (WLS) method to optimally distribute the wheel torque. In the lower level, a slip rate controller (SRC) was presented to reallocate the actual torques based on the sliding mode method. The simulation results show that the proposed scheme has high path-tracking accuracy and that vehicle stability under limited conditions is improved efficiently. Moreover, the safety under actuator failure is enhanced.

Coordinated control of stability and economy based on torque distribution of distributed drive electric vehicle

2019 ◽  
Vol 234 (6) ◽  
pp. 1792-1806 ◽  
Author(s):  
Youqun Zhao ◽  
Huifan Deng ◽  
Yong Li ◽  
Han Xu
Keyword(s):  
Electric Vehicle ◽  
Control Strategy ◽  
Coordinated Control ◽  
Motion Controller ◽  
Torque Distribution ◽  
Low Level ◽  
Bicycle Model ◽  
Distributed Drive Electric Vehicle ◽  
The Stability ◽  
High Level

The torque distribution strategy of distributed drive electric vehicle is only aimed at safety or economy. A multi-target coordinated control method considering stability and economy is proposed to solve the problem of single torque distribution target, which consists of a coordination decision controller, a high-level motion controller, and a low-level allocation controller. The coordination decision controller based on the phase plane method determines whether to adopt a stability or economic control strategy. The high-level motion controller consists of a bicycle model with 2 degree of freedom, a speed tracking controller, a stability controller, and an economic controller to calculate the desired direct yaw moment of the four in-wheel motors. The stability controller based on the fuzzy algorithm tracks the desired vehicle side slip angle and yaw rate calculated by the bicycle model with 2 degree of freedom to control vehicle stability. The economical controller based on a multi-motor loss model optimizes the efficiency of the vehicle’s drive system. The low-level allocation controller is presented to provide optimally distributed torques for each wheel. Finally, the simulation and hardware-in-the-loop testing show that the coordinated control strategy can effectively improve the stability and economy of the distributed drive electric vehicle.

scholarly journals Vehicle Stability Control Strategy Based on Recognition of Driver Turning Intention for Dual-Motor Drive Electric Vehicle

2020 ◽  
Vol 2020 ◽  
pp. 1-18
Author(s):  
Shu Wang ◽  
Xuan Zhao ◽  
Qiang Yu
Keyword(s):  
Control System ◽  
Electric Vehicle ◽  
Control Strategy ◽  
Stability Control ◽  
Motor Drive ◽  
Vehicle Stability ◽  
Lane Change ◽  
Vehicle Stability Control ◽  
Stability Control System ◽  
The Stability

Vehicle stability control should accurately interpret the driving intention and ensure that the actual state of the vehicle is as consistent as possible with the desired state. This paper proposes a vehicle stability control strategy, which is based on recognition of the driver’s turning intention, for a dual-motor drive electric vehicle. A hybrid model consisting of Gaussian mixture hidden Markov (GHMM) and Generalized Growing and Pruning RBF (GGAP-RBF) neural network is constructed to recognize the driver turning intention in real time. The turning urgency coefficient, which is computed on the basis of the recognition results, is used to establish a modified reference model for vehicle stability control. Then, the upper controller of the vehicle stability control system is constructed using the linear model predictive control theory. The minimum of the quadratic sum of the working load rate of the vehicle tire is taken as the optimization objective. The tire-road adhesion condition, performance of the motor and braking system, and state of the motor are taken as constraints. In addition, a lower controller is established for the vehicle stability control system, with the task of optimizing the allocation of additional yaw moment. Finally, vehicle tests were carried out by conducting double-lane change and single-lane change experiments on a platform for dual-motor drive electric vehicles by using the virtual controller of the A&D5435 hardware. The results show that the stability control system functions appropriately using this control strategy and effectively improves the stability of the vehicle.

scholarly journals Chattering-free sliding mode synchronization control for a hybrid mechanism

2017 ◽  
Vol 9 (7) ◽  
pp. 168781401771598 ◽  
Author(s):  
Yuanyuan Cao ◽  
Guoqin Gao ◽  
Xintong Wu
Keyword(s):  
Driving Forces ◽  
Sliding Mode ◽  
Synchronization Error ◽  
Tracking Accuracy ◽  
Hybrid Mechanism ◽  
Mode Synchronization ◽  
Hybrid Mechanisms ◽  
Chattering Free ◽  
The Stability ◽  
Synchronization Performance

For a hybrid mechanism used for automobile electro-coating conveying, a chattering-free sliding mode synchronization controller is proposed to improve the synchronization performance during motion process. The Jacobi matrix of the mechanism is calculated according to kinematic analysis, and the dynamic model is established by Lagrange method. Since the mechanism consists of two sets of hybrid mechanisms bilaterally, a novel synchronization error including the synchronization error between two ends of the end-effector is designed. By combining cross-coupling control with chattering-free sliding mode control, a novel chattering-free sliding mode synchronization controller is proposed. The stability of the proposed algorithm is proved by Lyapunov stability theorem. The simulation and experimental results show that the proposed controller can effectively reduce the chattering of driving forces and further improve the synchronization performance and tracking accuracy of the system.

Based on Adaptive Fuzzy PI DTC of Double Wheeled Electric Vehicle Drive Control

2014 ◽  
Vol 953-954 ◽  
pp. 1359-1362 ◽  
Author(s):  
Ya Jun Han ◽  
De Yin Du ◽  
Bao Fan Chen
Keyword(s):  
Electric Vehicle ◽  
Dynamic Error ◽  
Direct Torque Control ◽  
Torque Control ◽  
System Stability ◽  
Differential Analysis ◽  
Tracking Accuracy ◽  
Drive Control ◽  
The Stability ◽  
Differential Control

In order to improve the stability of an electric vehicle on different road conditions, this paper puts forward a fuzzy PI direct torque control of an adaptive, through the electronic differential control, the parameters of two high torque motor is adjusted dynamically, so as to replace the traditional mechanical differential. Analysis for system stability, the simulation results show that, with Matlab/Simulink, in a different way, this method can obtain good steady-state tracking accuracy and small dynamic error integral.

Sliding Mode Methods in Electric Vehicle Stability Control

2019 ◽  
Author(s):  
Timur Agliullin ◽  
Valentin Ivanov ◽  
Mohamed Salim Kaddari ◽  
Vincenzo Ricciardi ◽  
Dzmitry Savitski ◽  
...  
Keyword(s):  
Electric Vehicle ◽  
Sliding Mode ◽  
Stability Control ◽  
Vehicle Stability ◽  
Vehicle Stability Control

scholarly journals Multidriving Modes and Control Strategies of a Dual-Rotor In-Wheel Motor Applied in Electric Vehicle

2020 ◽  
Vol 2020 ◽  
pp. 1-12
Author(s):  
Junmin Li ◽  
Ren He
Keyword(s):  
Electric Vehicle ◽  
High Efficiency ◽  
Sliding Mode ◽  
Control Strategies ◽  
Minimum Energy ◽  
Operating Characteristics ◽  
Torque Distribution ◽  
Distribution Strategy ◽  
Speed Controller ◽  
Minimum Energy Consumption

To overcome the shortcomings and limited applications of the traditional in-wheel motor applied practically in electric vehicles, a novel dual-rotor in-wheel motor (DRIWM) was proposed, which has three driving modes and can meet the operating requirements of electric vehicle under different driving conditions. Based on the principle of minimum energy consumption, the torque distribution strategy was presented to obtain the optimal torque distribution of the inner and outer motors under different working points, and the driving modes were also divided. Using the models built in Matlab/Simulink, the operating characteristics of the DRIWM under certain conditions were simulated. The results show that the id = 0 vector control strategy based on sliding mode speed controller is applicable to the drive control for the DRIWM. When the vehicle is coupled to drive on three ramps with the grade of 10%, 15%, and 20% at a constant speed, the power consumption of the driving system with the adoption of optimized torque distribution strategy reduces by 2.2%, 1.7%, and 4.5%, respectively, compared with nonoptimized strategy. Furthermore, the three driving modes can switch freely with the operating condition changes in the vehicle under a standard driving cycle. Simultaneously, the inner and outer motors work with high efficiency.

scholarly journals Integrated control performance of drive-by-wire independent drive electric vehicle

2019 ◽  
Vol 10 ◽  
pp. 16
Author(s):  
Ling Yu ◽  
Sunan Yuan
Keyword(s):  
Electric Vehicle ◽  
Control Method ◽  
Reference Model ◽  
Integrated Control ◽  
Vehicle Stability ◽  
Direct Yaw Moment Control ◽  
Yaw Moment Control ◽  
Moment Control ◽  
The Stability ◽  
Yaw Moment

In order to improve the stability and safety of vehicles, it is necessary to control them. In this study, the integrated control method of drive-by-wire independent drive electric vehicle was studied. Firstly, the reference model of electric vehicle was established. Then, an integrated control method of acceleration slip regulation (ARS) and direct yaw moment control (DYC) was designed for controlling the nonlinearity of tyre, and the simulation experiment was carried out under the environment of MATLAB/SIMULINK. The results showed that the vehicle lost its stability when it was uncontrolled; under the control of a single DYC controller, r and β values got some control, but the vehicle stability was still low; under the integrated control of ARS+DYC, the vehicle stability was significantly improved; under the integrated control method, the overshoot, regulation time and steady-state error of the system were all small. Under the simulation of extreme conditions, the integrated control method also showed excellent performance, which suggested the method was reliable. The experimental results suggests the effectiveness of the integrated control method, which makes some contributions to the further research of the integrated control of electric vehicles.

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