Research on Driving Torque Distribution Method of Distributed Electric Tracked Vehicle

2021 ◽  
Author(s):  
Chunsheng Liu ◽  
Shaopeng Guo ◽  
Yuan Yi ◽  
Li Li ◽  
Xiaohang Shi
Keyword(s):  
Tracked Vehicle ◽  
Distribution Method ◽  
Torque Distribution ◽  
Driving Torque

scholarly journals Driving Torque Distribution Method for Front-and- Rear- Wheel-Independent-Drive-Type Electric Vehicles (FRID EVs) at the Time of Cornering

2010 ◽  
Vol 4 (3) ◽  
pp. 558-566 ◽  
Author(s):  
Nobuyoshi Mutoh ◽  
Osamu Nishida ◽  
Tatsuya Takayanagi ◽  
Tadahiko Kato ◽  
Kazutoshi Murakami
Keyword(s):  
Electric Vehicles ◽  
Rear Wheel ◽  
Distribution Method ◽  
Torque Distribution ◽  
Driving Torque

Integrated Modeling of Vehicle and Driveline Dynamics

2006 ◽  
Author(s):  
Federico Cheli ◽  
Marco Pedrinelli ◽  
Andrea Zorzutti
Keyword(s):  
Automotive Industry ◽  
Dynamic Behaviour ◽  
Dynamic Control ◽  
Contact Forces ◽  
Torque Distribution ◽  
Lateral Vehicle Dynamics ◽  
Torque Vectoring ◽  
Vehicle Dynamic Control ◽  
Driving Torque ◽  
Driveline Dynamics

In the last years automotive industry has shown a growing interest in exploring the field of vehicle dynamic control, improving handling performances and safety of the vehicle, actuating devices able to optimize the driving torque distribution to the wheels. These techniques are defined as torque vectoring. The potentiality of these systems relies on the strong coupling between longitudinal and lateral vehicle dynamics established by tires and powertrain. Due to this fact the detailed (and correct) simulation of the dynamic behaviour of the driveline has a strong importance in the development of these control systems, which aim is to optimize the contact forces distribution. The aim of this work is to build an integrated vehicle and powertrain model in order to provide a proper instrument to be used in the development of such systems, able to reproduce the dynamic interaction between vehicle and driveline and its effects on the handling performances. The developed models have been validated through comparison with experimental results obtained with a 4WD vehicle.

scholarly journals Torque Optimal Allocation Strategy of All-Wheel Drive Electric Vehicle Based on Difference of Efficiency Characteristics between Axis Motors

Energies ◽  
2019 ◽  
Vol 12 (6) ◽  
pp. 1122 ◽  
Author(s):  
Xiaogang Wu ◽  
Dianyu Zheng ◽  
Tianze Wang ◽  
Jiuyu Du
Keyword(s):  
Energy Consumption ◽  
Power System ◽  
Electric Vehicle ◽  
Driving Cycle ◽  
Drive Power ◽  
Distribution Method ◽  
Torque Distribution ◽  
Wheel Drive ◽  
Average Distribution ◽  
The Difference

All-wheel drive is an important technical direction for the future development of pure electric vehicles. The difference in the efficiency distribution of the shaft motor caused by the optimal load matching and motor manufacturing process, the traditional torque average distribution strategy is not applicable to the torque distribution of the all-wheel drive power system. Aiming at the above problems, this paper takes the energy efficiency of power system as the optimization goal, proposes a dynamic allocation method to realize the torque distribution of electric vehicle all-wheel drive power system, and analyzes and verifies the adaptability of this optimization algorithm in different urban passenger vehicle working cycles. The simulation results show that, compared with the torque average distribution method, the proposed method can effectively solve the problem that the difference of the efficiency distribution of the two shaft motors in the power system affects the energy consumption of the power system. The energy consumption rate of the proposed method is reduced by 5.96% and 5.69%, respectively, compared with the average distribution method under the China urban passenger driving cycle and the Harbin urban passenger driving cycle.

Optimal torque distribution method for a redundantly actuated 3-RRR parallel robot using a geometrical approach

Robotica ◽  
2012 ◽  
Vol 31 (4) ◽  
pp. 549-554 ◽  
Author(s):  
Ho-Seok Shim ◽  
TaeWon Seo ◽  
Jeh Won Lee
Keyword(s):  
Stiffness Matrix ◽  
Screw Theory ◽  
Null Space ◽  
Geometric Analysis ◽  
Parallel Robot ◽  
Geometrical Approach ◽  
Space Vector ◽  
Distribution Method ◽  
Torque Distribution ◽  
Redundantly Actuated

SUMMARYIn this paper, a novel optimal torque distribution method for a redundantly actuated parallel robot is proposed. Geometric analysis based on screw theory is performed to calculate the stiffness matrix of a redundantly actuated 3-RRR parallel robot. The analysis is performed based on statics focusing on low-speed motions. The stiffness matrix consisting of passive and active stiffness is also derived by the differentiation of Jacobian matrix. Comparing two matrices, we found that null-space vector is related to link geometry. The optimal distribution torque is determined by adapting mean value of minimum and maximum angles as direction angles of null-space vector. The resulting algorithm is validated by comparing the new method with the minimum-norm method and the weighted pseudo-inverse method for two different paths and force conditions. The proposed torque distribution algorithm shows the characteristics of minimizing the maximum torque.

Torque distribution optimization of redundantly actuated planar parallel mechanisms based on a null-space solution

Robotica ◽  
2014 ◽  
Vol 32 (7) ◽  
pp. 1125-1134 ◽  
Author(s):  
Jung Hyun Choi ◽  
TaeWon Seo ◽  
Jeh Won Lee
Keyword(s):  
Screw Theory ◽  
Null Space ◽  
Critical Role ◽  
Main Idea ◽  
Redundant Actuation ◽  
Parallel Mechanisms ◽  
Efficient Manner ◽  
Distribution Method ◽  
Torque Distribution ◽  
Space Solution

SUMMARYRedundant actuation for the parallel kinematic machine (PKM) is a well-known technique for overcoming general drawbacks of the PKM by helping it to avoid singularity and enhance stiffness characteristics, among others. Torque distribution plays a critical role in redundant actuation because this actuation causes the PKM to consume too much energy or put a substantial amount of stress on joints and links. This paper proposes a new torque distribution method for reducing the maximum torque of the actuator of a planar PKM. Here the main idea behind the proposed method is the use of superposition of a particular solution for a non-redundant case and an optimized null-space solution for a redundant case with a constant coefficient. The optimal value of a null-space solution can be easily determined by checking only the intersection points of the profile of the actuator's torque as the coefficient varies. We consider three cases of planar PKMs—2-, 3-, and 4-RRR PKMs—and present a detailed procedure for deriving a kinematic solution for the 2-RRR PKM based on Screw theory. We compare the proposed method with the minimum-norm pseudo-inverse method and assess a limitation of the proposed method. The torque distribution algorithm can be used to determine the number of actuators in an efficient manner and to reduce energy consumption.

scholarly journals Research on Torque Distribution of Four-Wheel Independent Drive Off-Road Vehicle Based on PRLS Road Slope Estimation

2021 ◽  
Vol 2021 ◽  
pp. 1-11
Author(s):  
Hongwei Ling ◽  
Bin Huang
Keyword(s):  
Real Time ◽  
Control Strategy ◽  
Time Estimation ◽  
Estimation Algorithm ◽  
Torque Distribution ◽  
Precise Control ◽  
The Road ◽  
Time Simulation ◽  
Road Gradient ◽  
Driving Torque

In view of the high difficulty in coupling of various electric vehicle parameters, intractable parameter estimation, and unreasonable distribution of vehicle driving torque, the four-wheel hub motor is applied to drive electric vehicles, which can instantly obtain the torque and speed of the hub motor and achieve precise control of the torque of each wheel. According to the vehicle longitudinal dynamics model, a progressive RLS (PRLS) algorithm for real-time estimation of vehicle mass and road gradient is proposed. Meanwhile, by means of taking the longitudinal acceleration of the vehicle and the road gradient obtained from the estimation algorithm as the parameter of the torque distribution at the front and rear axles, a dynamic compensation and distribution control strategy of the front and rear axle torques is designed. Moreover, based on hardware-in-the-loop real-time simulation and real-vehicle tests, the effectiveness of the proposed estimation algorithm and the rationality of the real-time distribution control strategy of driving torque are verified.

Analysis of the Weighting Matrix for Load Distribution Using Weighted Pseudoinverse in a Redundantly Actuated System

Volume 2 ◽  
2004 ◽  
Author(s):  
Dong Il Park ◽  
Soo Hyun Kim ◽  
Yoon Keun Kwak
Keyword(s):  
Load Distribution ◽  
Redundant Actuation ◽  
Maximum Torque ◽  
Distribution Method ◽  
Torque Distribution ◽  
Weighting Matrix ◽  
Weighted Pseudoinverse ◽  
Actuation System ◽  
Redundantly Actuated ◽  
Stiffness Control

Redundant actuation indicates a situation when there are more actuators than a system’s mobility. A redundant actuated system has many strengths, such as better performance than a non-redundant system, avoiding singularity, reducing impact force using active stiffness control and fault tolerance. However, there are some issues on economic efficiency and minimization of a system, because redundant actuation can use more actuators than non-redundant actuation. Also, in a redundant actuation system, the actuator torque does not have one solution, but rather there are infinite torque sets even though a robot works on the same task. Therefore, it is very important to select a torque distribution method that is suitable for the objectives of the robot. In this paper, we used the weighted pseudoinverse matrix for torque distribution. This method is applied to a five bar link system and the influence of the weighting variables is analyzed. By adjusting the weighting values, we can find the relation between the actuator input and the weighting value and obtain various torque sets in real time. In other words, we find how each actuator torque changes according to the variation of each weighting value and how much the maximum torque reduce for the suggested weighting matrices.

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