Mobility Optimization and Control of a 4x4 HE-Vehicle in Curvilinear Motion on Stochastic Terrain

2016 ◽  
Author(s):  
Vladimir V. Vantsevich ◽  
Jesse R. Paldan ◽  
Blair K. Farley
Keyword(s):  
Power Distribution ◽  
Vehicle Dynamics ◽  
Hybrid Electric Vehicle ◽  
Control Algorithm ◽  
Lagrangian Multiplier ◽  
Math Model ◽  
Curvilinear Motion ◽  
Optimal Power ◽  
Optimization And Control ◽  
And Control

This paper presents a new method for optimizing mobility of a 4×4 hybrid-electric vehicle through control of wheel power distribution. First, a mobility index is used to calculate optimal power distribution for improved mobility using a Lagrangian multiplier. A control algorithm is developed for altering the wheel power distribution in order to follow a trajectory path which is calculated for optimum mobility. An inverse vehicle dynamics math model of a 4×4 vehicle is used in which a task is assigned as a required velocity to test in two simulated curvilinear maneuvers.

Development of the Independent Metering Valve Control System and Analysis of its Performance for an Excavator

2016 ◽  
Author(s):  
Jong-Chan Lee ◽  
Ki-Chang Jin ◽  
Young-Min Kwon ◽  
Lim-Gook Choi ◽  
Jae-Yoon Choi ◽  
...  
Keyword(s):  
Control System ◽  
Energy Consumption ◽  
Power Distribution ◽  
Control Algorithm ◽  
High Capacity ◽  
Efficient System ◽  
Conventional Machine ◽  
Control Technologies ◽  
And Control ◽  
Valve Control

As an effort to develop more efficient system for an excavator, EH (Electro-Hydraulic) system has been widely adopted to take the advantage of the well-commercialized EH valves and its control technologies[1]. Utilizing the EH technology, an innovative IMV (Independent Metering Valve) control system for an excavator mechanism, which consists of high capacity EH valve blocks, an electric-controlled pump, and a main controller unit, has been developed by Hyundai Heavy Industries Co., Ltd. This IMV control system can provide tremendous flexibility to the control of cylinder movements and reduce the energy consumption of an excavator. In this paper, we introduce the major features of the developed IMV control system and propose the novel control algorithm considering optimal power distribution and energy saving. Furthermore, the effectiveness of the proposed system and control algorithm is verified through various experiments conducted on an excavator equipped with the IMV control system. The results are compared with those of conventional machine. It was shown that IMV system could save the energy consumption more than 10% of an excavator.

Mechatronics Implementation of Inverse Dynamics-Based Controller for an Off-Road UGV

2015 ◽  
Author(s):  
Mostafa Salama ◽  
Vladimir V. Vantsevich
Keyword(s):  
Power Distribution ◽  
Control Algorithm ◽  
Inverse Dynamics ◽  
Dc Motor ◽  
Unmanned Ground Vehicle ◽  
Power Losses ◽  
Wheel Load ◽  
Ground Vehicle ◽  
Dc Motors ◽  
And Control

This paper presents a project developed at the University of Alabama at Birmingham (UAB) aimed to design, implement, and test an off-road Unmanned Ground Vehicle (UGV) with individually controlled four drive wheels that operate in stochastic terrain conditions. An all-wheel drive off-road UGV equipped with individual electric dc motors for each wheel offers tremendous potential to control the torque delivered to each individual wheel in order to maximize UGV slip efficiency by minimizing slip power losses. As previous studies showed, this can be achieved by maintaining all drive wheels slippages the same. Utilizing this approach, an analytical method to control angular velocities of all wheels was developed to provide the same slippages of the four wheels. This model-based method was implemented in an inverse dynamics-based control algorithm of the UGV to overcome stochastic terrain conditions and minimize wheel slip power losses and maintain a given velocity profile. In this paper, mechanical and electrical components and control algorithm of the UGV are described in order to achieve the objective. Optical encoders built-in each dc motor are used to measure the actual angular velocity of each wheel. A fifth wheel rotary encoder sensor is attached to the chassis to measure the distance travel and estimate the longitudinal velocity of the UGV. In addition, the UGV is equipped with four electric current sensors to measure the current draw from each dc motor at various load conditions. Four motor drivers are used to control the dc motors using National Instruments single-board RIO controller. Moreover, power system diagrams and controller pinout connections are presented in detail and thus explain how all these components are integrated in a mechatronic system. The inverse dynamics control algorithm is implemented in real-time to control each dc motors individually. The integrated mechatronics system is distinguished by its robustness to stochastic external disturbances as shown in the previous papers. It also shows a promising adaptability to disturbances in wheel load torques and changes in stochastic terrain properties. The proposed approach, modeling and hardware implementation opens up a new way to the optimization and control of both unmanned ground vehicle dynamics and vehicle energy efficiency by optimizing and controlling individual power distribution to the drive wheels.

scholarly journals Two-Layer Collaborative Architecture for Distributed Volt/Var Optimization and Control in Power Distribution Systems

IEEE Access ◽  
2019 ◽  
Vol 7 ◽  
pp. 173344-173357
Author(s):  
Qiyi Yu ◽  
Qi Wang ◽  
Wei Li ◽  
Fusuo Liu ◽  
Zhongyu Shen ◽  
...  
Keyword(s):  
Power Distribution ◽  
Distribution Systems ◽  
Power Distribution Systems ◽  
Optimization And Control ◽  
And Control

Design and Control Strategy of a 4WD Hybrid Electric Vehicle with a Two-Speed Transmission

2013 ◽  
Vol 380-384 ◽  
pp. 605-608
Author(s):  
Ze Yu Chen ◽  
Xue Jiao Li ◽  
Bin Jiao
Keyword(s):  
Electric Vehicle ◽  
Control Strategy ◽  
Power Distribution ◽  
Hybrid Electric Vehicle ◽  
System Structure ◽  
Parallel Hybrid Electric Vehicle ◽  
Shifting Strategy ◽  
Parallel Hybrid ◽  
Hybrid Electric ◽  
And Control

A new-style four-wheeled driving (4WD) series-parallel hybrid electric vehicle (HEV) plus with a two speed transmission is presented in this paper. The system structure and operation principles are discussed systematically, and then the control strategy is proposed. Control strategy focus on the multi modes switch logic and power distribution. In addition, shifting strategy of the two speed transmission is researched. Simulation results indicate that the presented 4WD HEV can realize nice dynamic property; the presented control strategy is correct and effective.

scholarly journals A Comprehensive Review on Classification, Energy Management Strategy, and Control Algorithm for Hybrid Electric Vehicles

Energies ◽  
2020 ◽  
Vol 13 (20) ◽  
pp. 5355
Author(s):  
Qicheng Xue ◽  
Xin Zhang ◽  
Teng Teng ◽  
Jibao Zhang ◽  
Zhiyuan Feng ◽  
...  
Keyword(s):  
Energy Management ◽  
Management Strategy ◽  
Hybrid Electric Vehicle ◽  
Control Algorithm ◽  
Management Systems ◽  
Future Research ◽  
Energy Management Strategy ◽  
Energy Management Systems ◽  
Hybrid Electric ◽  
And Control

The energy management strategy (EMS) and control algorithm of a hybrid electric vehicle (HEV) directly determine its energy efficiency, control effect, and system reliability. For a certain configuration of an HEV powertrain, the challenge is to develop an efficient EMS and an appropriate control algorithm to satisfy a variety of development objectives while not reducing vehicle performance. In this research, a comprehensive, multi-level classification for HEVs is introduced in detail from the aspects of the degree of hybridization (DoH), the position of the motor, the components and configurations of the powertrain, and whether or not the HEV is charged by external power. The principle and research status of EMSs for each type of HEV are summarized and reviewed. Additionally, the EMSs and control algorithms of HEVs are compared and analyzed from the perspectives of characteristics, applications, real-time abilities, and historical development. Finally, some discussions about potential directions and challenges for future research on the energy management systems of HEVs are presented. This review is expected to bring contribution to the development of efficient, intelligent, and advanced EMSs for future HEV energy management systems.

scholarly journals Analysis and Control of Optimal Power Distribution for Multi-Objective Wireless Charging Systems

Energies ◽  
2018 ◽  
Vol 11 (7) ◽  
pp. 1726 ◽  
Author(s):  
Zhen Zhang ◽  
Ruilin Tong ◽  
Zhenyan Liang ◽  
Chunhua Liu ◽  
Jiang Wang
Keyword(s):  
Power Distribution ◽  
Wireless Charging ◽  
Multi Objective ◽  
Optimal Power ◽  
And Control
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