A state observation and torque compensation–based acceleration slip regulation control approach for a four-wheel independent drive electric vehicle under slope driving

2020 ◽  
Vol 234 (12) ◽  
pp. 2728-2743
Author(s):  
Luole Guo ◽  
Hongbing Xu ◽  
Jianxiao Zou ◽  
Hongyu Jie ◽  
Gang Zheng
Keyword(s):  
Electric Vehicle ◽  
Control Strategy ◽  
Longitudinal Component ◽  
Identification Algorithm ◽  
Wheel Slip ◽  
Slip Ratio ◽  
Control Approach ◽  
State Observation ◽  
Optimal Slip Ratio ◽  
Control Objective

Wheel slipping of four-wheel independent drive electric vehicle on slope will reduce vehicle controllability and driving stability, thereby reducing vehicle safety. In order to solve the problem of wheel slipping and optimize the speed control performance of four-wheel independent drive electric vehicle on slope, an acceleration slip regulation control strategy of slope drive is proposed in this paper. First, we design a road identification algorithm to identify the current road conditions of the four-wheel independent drive electric vehicle, and calculate the optimal slip ratio of the current road surface by curve fitting method. Then, with the optimal slip ratio as the control objective, the acceleration slip regulation control strategy is designed to maximize the utilization of wheel adhesion coefficient to prevent wheel slip. Third, a slope identification algorithm based on Luenberger state observer is designed to identify the various slopes of the uphill and downhill road, after which a torque compensation algorithm is designed according to the identification slope, to compensate for the longitudinal component of vehicle gravity at different slopes. Fourth, a slope torque distribution algorithm is proposed based on acceleration slip regulation and slope identification. Finally, through the joint simulation platform of MATLAB/Simulink and CarSim, it is shown that the proposed control strategy can better restrain wheel slipping on the uphill and downhill road, and has better dynamic characteristics and stability.

A Research on Anti-Slip Regulation for 4WD Electric Vehicle with In-Wheel Motors

2013 ◽  
Vol 347-350 ◽  
pp. 753-757
Author(s):  
Li Zhou ◽  
Lu Xiong ◽  
Zhuo Ping Yu
Keyword(s):  
Control Strategy ◽  
Sliding Mode ◽  
Traction Force ◽  
Slip Rate ◽  
Control Effect ◽  
Wheel Slip ◽  
Slip Ratio ◽  
Tire Force ◽  
Optimal Slip Ratio ◽  
Electrical Vehicle

This paper proposes a wheel slip control strategy for 4WD Electrical Vehicle with In-wheel Motors. In the first part of this paper, a brief introduction of sliding mode control for acceleration slip regulation is given. Consider that its control effect varies with road conditions, another algorithm which can automatically adapt to different roads is designed. This method takes advantage of the peculiarity of the longitudinal static tire force curve and regulates wheel slip ratio to the detected optimal value, aiming to maximize the traction force while preserving sufficient lateral tire force. Simulation results show that the slip rate can be regulated to a value around the optimal slip ratio, and the driving torque is very close to the maximum transmissible torque. The control strategy achieves stronger stability, shorter driving distance and hence better control performance.

A Novel Traction Control Strategy Based on Optimal Slip Ratio Control for Electric Vehicle

2014 ◽  
Vol 705 ◽  
pp. 355-359
Author(s):  
Ling Fei Wu ◽  
Li Fang Wang ◽  
Jun Zhi Zhang
Keyword(s):  
Electric Vehicle ◽  
Control Strategy ◽  
Pid Control ◽  
Optimal Point ◽  
Slip Ratio ◽  
Traction Control ◽  
Optimal Slip Ratio ◽  
Simulation Based ◽  
Hardware In Loop ◽  
Driving Torque

A novel traction control strategy based on slip ratio gradient PID control is proposed. The gradient of slip ratio can be controlled accurately through adapting the driving torque by analyzing the dynamic process of the wheel. The optimal slip ratio for traction control is found through the analysis of the characteristic of the tire. The slip ratio of the driving wheels can be control at the optimal point through slip ratio gradient PID control. An electric vehicle model for simulation based on MATLAB/SIMULINK has been built and simulations have been carried out. A hardware-in-loop test bench has been built and experiment has been carried out. Results show that the strategy can achieve better driving performance than motor torque PID control strategy.

Variable gain control-based acceleration slip regulation control algorithm for four-wheel independent drive electric vehicle

2020 ◽  
pp. 014233122093342
Author(s):  
Luole Guo ◽  
Hongbing Xu ◽  
Jianxiao Zou ◽  
Hongyu Jie ◽  
Gang Zheng
Keyword(s):  
Electric Vehicle ◽  
Control Strategy ◽  
Large Scale ◽  
Dynamic Performance ◽  
Gain Control ◽  
Scalar Function ◽  
System Stability ◽  
Slip Ratio ◽  
Variable Gain ◽  
Optimal Slip Ratio

In order to improve the dynamic performance and stability of general acceleration slip regulation (ASR) control technology for four-wheel independent drive electric vehicle (4WID EV), an ASR control strategy based on variable gain controller (VGC) is proposed in this paper. First of all, a road identification strategy is designed to identify the current road surface and calculate the optimal slip ratio of the road. Then, the optimal slip ratio is taken as the control target, and the ASR control strategy based on VGC is designed to keeps slip ratio around the optimum slip ratio through controlling the driving torque output, so wheels can make the best of road adhesion to prevent vehicle from slipping. Meanwhile, we analyze the control system state space, and build a scalar function of the system, and prove that the system satisfies Lyapunov large scale asymptotic stability theorem, so the parameters of the VGC does not affect the system stability. Then, in order to meet the requirement of quick dynamic response and no overshoot, parameters selection of VGC is deduced by mathematics. Finally, the co-simulation of Matlab/Simulink and Carsim results show that the proposed control strategy is with the better dynamics and stability, and can better prevent wheel slipping on various roads.

scholarly journals Traction Control of Electric Vehicles Using Sliding-Mode Controller with Tractive Force Observer

2014 ◽  
Vol 2014 ◽  
pp. 1-9 ◽  
Author(s):  
Suwat Kuntanapreeda
Keyword(s):  
Sliding Mode ◽  
Nonlinear Function ◽  
Control Law ◽  
Tractive Force ◽  
Wheel Slip ◽  
Slip Ratio ◽  
Traction Control ◽  
Control Approach ◽  
Control Objective ◽  
Safety And Stability

Traction control is an important element in modern vehicles to enhance drive efficiency, safety, and stability. Traction is produced by friction between tire and road, which is a nonlinear function of wheel slip. In this paper, a sliding-mode control approach is used to design a robust traction controller. The control objective is to operate vehicles such that a desired wheel slip ratio is achieved. A nonlinearity observer is employed to estimate tire tractive forces, which are used in the control law. Simulation and experimental results have illustrated the success of the proposed observer-based controller.

Modeling, identification, and controller design for hydraulic anti-slip braking system

2018 ◽  
Vol 233 (4) ◽  
pp. 862-876 ◽  
Author(s):  
Bijan Moaveni ◽  
Pegah Barkhordari
Keyword(s):  
Control System ◽  
Controller Design ◽  
Longitudinal Velocity ◽  
Experimental Tests ◽  
Identification Algorithm ◽  
Slip Ratio ◽  
Control Approach ◽  
The Road ◽  
Braking System ◽  
Road Condition

This study modeled and identified the hydraulic subsystem of an anti-slip braking system using input–output data of experiments on a test car. A simulation was prepared based on the results of the identification process, and it was validated by comparing the simulation results with those of the experimental tests. A novel control approach is introduced to obtain the optimal slip ratio during braking. This method does not require vehicle longitudinal velocity for the control algorithm but requires information about the road condition (dry, wet, etc.). An online identification algorithm to detect the road condition is introduced. The main benefits of the proposed control system in comparison with previous versions are improving the braking performance, simplicity of the control strategy, and considering the operational constraints which facilitate the control system implementation. The simulation and hardware-in-the-loop experimental results demonstrated the success of the modeling, identification, and proposed control approach.

scholarly journals Optimal Slip Ratio Based Fuzzy Control of Acceleration Slip Regulation for Four-Wheel Independent Driving Electric Vehicles

2013 ◽  
Vol 2013 ◽  
pp. 1-7 ◽  
Author(s):  
Guodong Yin ◽  
Shanbao Wang ◽  
Xianjian Jin
Keyword(s):  
Fuzzy Logic ◽  
Electric Vehicle ◽  
Electric Vehicles ◽  
Fuzzy Logic Control ◽  
Fuzzy Controller ◽  
Angular Acceleration ◽  
Slip Rate ◽  
Wheel Slip ◽  
Slip Ratio ◽  
Logic Control

To improve the driving performance and the stability of the electric vehicle, a novel acceleration slip regulation (ASR) algorithm based on fuzzy logic control strategy is proposed for four-wheel independent driving (4WID) electric vehicles. In the algorithm, angular acceleration and slip rate based fuzzy controller of acceleration slip regulation are designed to maintain the wheel slip within the optimal range by adjusting the motor torque dynamically. In order to evaluate the performance of the algorithm, the models of the main components related to the ASR of the four-wheel independent driving electric vehicle are built in MATLAB/SIMULINK. The simulations show that the driving stability and the safety of the electric vehicle are improved for fuzzy logic control compared with the conventional PID control.

scholarly journals Torque Vectoring Control of RWID Electric Vehicle for Reducing Driving-Wheel Slippage Energy Dissipation in Cornering

Energies ◽  
2021 ◽  
Vol 14 (23) ◽  
pp. 8143
Author(s):  
Junnian Wang ◽  
Siwen Lv ◽  
Nana Sun ◽  
Shoulin Gao ◽  
Wen Sun ◽  
...  
Keyword(s):  
Energy Dissipation ◽  
Electric Vehicle ◽  
Control Strategy ◽  
Rear Wheel ◽  
Recursive Least Squares ◽  
Wheel Slip ◽  
Saturation Region ◽  
Torque Vectoring ◽  
Driving Wheel ◽  
Driving Range

The anxiety of driving range and inconvenience of battery recharging has placed high requirements on the energy efficiency of electric vehicles. To reduce driving-wheel slip energy consumption while cornering, a torque vectoring control strategy for a rear-wheel independent-drive (RWID) electric vehicle is proposed. First, the longitudinal linear stiffness of each driving wheel is estimated by using the approach of recursive least squares. Then, an initial differential torque is calculated for reducing their overall tire slippage energy dissipation. However, before the differential torque is applied to the two side of driving wheels, an acceleration slip regulation (ASR) is introduced into the overall control strategy to avoid entering into the tire adhesion saturation region resulting in excessive slip. Finally, the simulations of typical manoeuvring conditions are performed to verify the veracity of the estimated tire longitudinal linear stiffness and effectiveness of the torque vectoring control strategy. As a result, the proposed torque vectoring control leads to the largest reduction of around 17% slip power consumption for the situations carried out above.

A robust torque control approach for gear shift of a parallel hybrid electric vehicle with dual clutch transmission

2020 ◽  
Vol 68 (5) ◽  
pp. 399-405
Author(s):  
Sooyoung Kim ◽  
Seibum Choi
Keyword(s):  
Electric Vehicle ◽  
Control Strategy ◽  
Hybrid Electric Vehicle ◽  
Internal Combustion Engines ◽  
Torque Control ◽  
Dual Clutch Transmission ◽  
Control Approach ◽  
Shift Quality ◽  
Smoothing Effects ◽  
Hybrid Electric

This article proposes a robust control strategy for gear shifts of a parallel-type hybrid electric vehicle (HEV) equipped with a dry dual clutch transmission (DCT). A vehicle equipped with DCT requires accurate torque transfer control through the driveline during gear shifts to ensure good shift quality in the absence of smoothing effects from torque converter. Unlike conventional vehicles driven only by internal combustion engines, a HEV can utilize the drive motor to improve its gear shifting performances. In this article, an integrated torque and speed control strategy is developed to minimize the driveline oscillations that occur during gear shifts and to complete the shift as fast as the driver wants. A robust H-infinity controller is designed to control transmission output torque as well as clutch slip speed, particularly in inertia phase that mostly determines the total shift quality. The effectiveness of the proposed control strategy as well as its robustness is verified by comparative studies using a proven vehicle model developed in MATLAB/SimDriveline.

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