Allocation control algorithms design and comparison based on distributed drive electric vehicles
- 224 Downloads
For a distributed drive electric vehicle (DDEV) which is equipped with redundant actuators, allocation control is a key technique. Three different allocation control algorithms are designated with fixed efficiency matrix, dynamic efficiency matrix, and direct yaw moment distribution, respectively. All these algorithms are applied in a vehicle stability control system with hierarchical control structure and evaluated from three aspects, namely, control precision, real-time characteristics, and control energy. Comparison results demonstrate that the algorithm with dynamic efficiency matrix has the best comprehensive performance, which is also validated in field tests based on a DDEV equipped with four motors.
KeywordsAllocation control Efficiency matrix Stability control Distributed drive electric vehicle
Unable to display preview. Download preview PDF.
- GB/T 6323-2014 Controllability and Stability Test Procedure for Automobile (2014}). http://wenku.baidu.com/link?url=HJXZG2zw1LBm8DQxP-RgQ8ZARJWMRS-9G8LpG5oX4MM1FbPO8ABRjAeo0hoE44_9h0P5JxxWRJxMXpKcoyuXwDnXDS6s-CztmfwTEWah0iy&pn=5Google Scholar
- He, P. and Hori, Y. (2006). Optimum traction force distribution for stability improvement of 4WD EV in critical driving condition. IEEE Int. Workshop on Advanced Motion Control, 596–601.Google Scholar
- ISO 3888-1 (1999). Passenger Cars–Test Track for a Severe Lane-change Manoeuvre–Part 1: Double Lane-Change. http://www.iso.org/isocatalogue_detail.htm?csnumber=31317Google Scholar
- Jin, C., Xiong, L. and Yang, P. (2012). A control allocation algorithm for in-wheel-motor driven vehicle with coupling tire characteristics. Proc. 12th Int. Symp. Advanced Vehicle Control, Tokyo, Japan.Google Scholar
- Kobayashi, T., Sugiura, H., Ono, E., Katsuyama, E. and Yamamoto, M. (2016). Efficient direct yaw moment control of in-wheel motor vehicle. Proc. 13th Int. Symp. Advanced Vehicle Control, Munich, Germany.Google Scholar
- Mokhiamar, O. and Abe, M. (2004a). Effects of an optimum cooperative chassis control from the viewpoint of tire workload. Trans. Society of Automotive Engineers of Japan 35, 3, 215–221.Google Scholar
- Schofield, B. and Haegglund, T. (2008). Optimal control allocation in vehicle dynamics control for rollover mitigation. American Control Conf., Seattle, Washington, USA.Google Scholar
- U.S. DOT/NHTSA–Federal Motor Vehicle Safety Standards–Electronic Stability Control Systems (2006}). https://www.nhtsa.gov/sites/nhtsa.dot.gov/files/esc_nprm.pdGoogle Scholar
- U.S. DOT/NHTSA–Laboratory Test Procedure for Dynamic Rollover–The Fishhook Maneuver Test Procedure–New Car Assessment Program (NCAP) (2013}). https://www.regulations.gov/document?D=NHTSA-2006-26555-013Google Scholar