Προβλεπτικός έλεγχος ευστάθειας ηλεκτρικού αυτοκινήτου με τετρακίνηση
Loading...
Date
2022-10-13
Authors
Ασημομύτης, Αναστάσιος
Journal Title
Journal ISSN
Volume Title
Publisher
Abstract
Electric vehicles (EV) have attracted increasing attention from both industrial and academic communities recently. The electric motor has high efficiency and fast response, which is helpful for improving energy saving and vehicle stability. The in-wheel-motor-driven electric vehicle as a typical over-actuated system has an actuation flexibility that can be utilized to improve operational efficiency and enhance vehicle motion control performance by allocating different torques to the four wheels. The capabilities of the in-wheel motors and the ongoing increase of computing power of hardware push the car industry to develop new, more advanced ways to achieve better overall performance and stability of the road vehicles, especially in unfavorable driving conditions. Stability control systems have been developed over the past few decades to assist drivers in keeping the vehicle under control. Most of these control systems are comprised of separate modules, each responsible for one task, such as yaw rate tracking, sideslip control, traction control, etc. An adaptive model predictive control (AMPC) approach for the integrated control of active front steering (AFS), direct yaw moment control (DYC) and motor torque allocation (MTΑ) in four in-wheel driving electric vehicles (EVs) is presented. The AMPC controller scheme is composed of two parts: first stage (AFS + DYC) controller to tackle the lateral high nonlinear dynamics of the vehicle and tires with a localized linear prediction model driven by a reference model for the automated driver commands and a second level control allocation (CA) controller for the nonlinear longitudinal dynamics model to allocate the best control actions to the motors. Cost functions of the optimal control problem are defined for each controller over the prediction horizon to meet the multiple control requirements taking hard constraints into account. To construct a realistic model of an electric vehicle, the individual dynamic systems that make it up, such as electric motors, suspension, wheels, and tires, were modeled with parameters of modern models of the automotive industry. Moreover, the addition of an ACC (Advance cruise control) controller along with specific steering wheel commands made up the automated driver model giving greater autonomy to the overall system. The performance of the integrated control system was evaluated in the Simulink simulation environment with a high fidelity 14-degree of freedom model in different maneuvers and operating conditions.
Description
Keywords
Προβλεπτικός έλεγχος, Ηλεκτρονικός έλεγχος ευστάθειας, Ηλεκτρικά αυτοκίνητα, Κινητήρες στους τροχούς, Tετρακίνηση