Design and Experimental Evaluations on Energy Efficient Control Allocation Methods for Overactuated Electric Vehicles: Longitudinal Motion Case

2014 ◽  
Vol 19 (2) ◽  
pp. 538-548 ◽  
Author(s):  
Yan Chen ◽  
Junmin Wang
Keyword(s):  
Electric Vehicles ◽  
Energy Efficient ◽  
Control Allocation ◽  
Longitudinal Motion ◽  
Efficient Control ◽  
Allocation Methods

Coordinated Control of Autonomous Four Wheel Drive Electric Vehicles for Platooning and Trajectory Tracking Using a Hierarchical Architecture

2015 ◽  
Vol 137 (10) ◽  
Author(s):  
Jinghua Guo ◽  
Keqiang Li ◽  
Yugong Luo
Keyword(s):  
Electric Vehicles ◽  
Cooperative Control ◽  
Hierarchical Architecture ◽  
Control Allocation ◽  
Longitudinal Motion ◽  
Action Execution ◽  
Wheel Drive ◽  
Four Wheel Drive ◽  
Resultant Forces ◽  
Control Layer

This paper presents a systematic method on how to design the coordinated lateral and longitudinal motion control system of autonomous four wheel drive (4WD) electric vehicles for platooning and trajectory tracking. First, mathematical models that perfectly describe the behaviors of autonomous 4WD vehicles are built-up, and the coupled effects in vehicle dynamic systems are given. Second, owing to the fact that autonomous vehicles are large-scale systems with strong coupling, nonlinearities, and uncertainties, a novel multi-objective hierarchical architecture used for coordinated lateral and longitudinal motion control is constructed, which is composed of a global cooperative control layer, a control allocation layer, and an action execution layer. A robust backstepping sliding mode controller (RBSMC) is presented in the cooperative control layer to provide the resultant forces/moment. The control allocation layer is designed using interior-point (IP) algorithm to determine the tire lateral and longitudinal forces, which result in the desired resultant forces/moment. The action execution layer consists of an inverse tire model, a slip ratio regulator for each wheel, and a slip angle regulator. Finally, simulation experiments are carried out under adverse driving conditions, and the results show that the proposed control architecture not only possesses excellent tracking performance but also enhances the riding comfort, stability, and safety of autonomous 4WD electric vehicles.

scholarly journals On the Investigation of Energy Efficient Torque Distribution Strategies through a Comprehensive Powertrain Model

2021 ◽  
Vol 13 (8) ◽  
pp. 4549
Author(s):  
Sara Salamone ◽  
Basilio Lenzo ◽  
Giovanni Lutzemberger ◽  
Francesco Bucchi ◽  
Luca Sani
Keyword(s):  
Energy Storage ◽  
Electric Vehicles ◽  
Energy Efficient ◽  
Storage System ◽  
Energy Storage System ◽  
Torque Distribution ◽  
Driving Cycles ◽  
Energy Models ◽  
Battery State Of Charge

In electric vehicles with multiple motors, the torque at each wheel can be controlled independently, offering significant opportunities for enhancing vehicle dynamics behaviour and system efficiency. This paper investigates energy efficient torque distribution strategies for improving the operational efficiency of electric vehicles with multiple motors. The proposed strategies are based on the minimisation of power losses, considering the powertrain efficiency characteristics, and are easily implementable in real-time. A longitudinal dynamics vehicle model is developed in Simulink/Simscape environment, including energy models for the electrical machines, the converter, and the energy storage system. The energy efficient torque distribution strategies are compared with simple distribution schemes under different standardised driving cycles. The effect of the different strategies on the powertrain elements, such as the electric machine and the energy storage system, are analysed. Simulation results show that the optimal torque distribution strategies provide a reduction in energy consumption of up to 5.5% for the case-study vehicle compared to simple distribution strategies, also benefiting the battery state of charge.

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