Torque Coordinated Control of Four In-Wheel Motor Independent-Drive Vehicles With Consideration of the Safety and Economy | IEEE Journals & Magazine | IEEE Xplore

Torque Coordinated Control of Four In-Wheel Motor Independent-Drive Vehicles With Consideration of the Safety and Economy


Abstract:

How to reasonably coordinate and control the torque of four wheels to enhance vehicle performance is an important research problem of the four in-wheel-motor independent-...Show More

Abstract:

How to reasonably coordinate and control the torque of four wheels to enhance vehicle performance is an important research problem of the four in-wheel-motor independent-drive electric vehicle (4MIDEV). In this paper, a coordinated hierarchical control strategy for the dynamic wheel torque of 4MIDEV steering is proposed, which considers both safety and energy-saving performance. The innovation of this paper lies in two new valuable algorithms in the top and bottom level controller, respectively. Besides the optimal control method on the basis of the 2-degree of freedom (DoF) ideal model in the top level controller, a novel model predictive control method based on the 7-DoF dynamic model is put forward to obtain two virtual generalized forces required during vehicle driving. In the bottom level controller, a novel optimal allocation (OA) algorithm is brought forward to improve the safety and energy-saving performance. The tire stability margin and the electric power of driving system balancing the driving energy consumption and regenerative braking energy recovery are considered in the quadratic objective function of OA algorithm at the same time. Carsim-Simulink joint simulation results under open-loop and closed-loop steering conditions illustrate that, compared with the 2-DoF LQR control method, the 7-DoF MPC method could effectively improve vehicle handling stability and safety. The bottom optimal allocation algorithm can not only improve the vehicle handling stability, but also make the driving system more energy-saving.
Published in: IEEE Transactions on Vehicular Technology ( Volume: 68, Issue: 10, October 2019)
Page(s): 9604 - 9618
Date of Publication: 15 August 2019

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I. Introduction

Energy and environment Crisis is the fundamental reason for developing electric vehicles [1], [2]. The inexorable march of technical progress in electric vehicles (EVs) makes it spontaneous for more researchers to focus on the research of 4MIDEV, which could facilitate the independent decoupling control of every wheel torque, since four in-wheel motors are installed in four wheels respectively [3], [4]. The dynamics stability and safety of 4MIDEV in extreme conditions could avail itself of stronger direct yaw moment control ability thanks to the driving or regenerative braking mode and torque values of each wheel arbitrarily determined by the more flexible control strategy [5], [6].

References

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