An optimal torque distribution control strategy for four-independent wheel drive electric vehicles

Li, Bin; Goodarzi, Avesta; Khajepour, Amir; Chen, Shih-Ken; Litkouhi, Baktiar

doi:10.1080/00423114.2015.1028414

Cited by 107 publications

(62 citation statements)

References 19 publications

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“…With respect to the control allocator (Layer 3), special interest is on four-wheel-drive electric vehicles because of their actuation redundancy [5][6][7][8][9][10]. For example, in straight-line conditions the overall traction/braking force demand can be generated through infinitely different front-to-rear wheel torque distributions.…”

Section: Iii)mentioning

confidence: 99%

Torque Distribution Strategies for Energy-Efficient Electric Vehicles With Multiple Drivetrains

Lenzo

Filippis

Dizqah

et al. 2017

Journal of Dynamic Systems, Measurement, and Control

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The paper discusses novel computationally efficient torque distribution strategies for electric vehicles with individually controlled drivetrains, aimed at minimizing the overall power losses while providing the required level of wheel torque and yaw moment. Analytical solutions of the torque control allocation problem are derived and effects of load transfers due to driving/braking and cornering are studied and discussed in detail. Influences of different drivetrain characteristics on the front and rear axles are described. The results of an analytically derived algorithm are contrasted with those from two other control allocation strategies, based on the offline numerical solution of more detailed formulations of the control allocation problem (i.e., a multiparametric nonlinear programming (mp-NLP) problem). The control allocation algorithms are experimentally validated with an electric vehicle with four identical drivetrains along multiple driving cycles and in steady-state cornering. The experiments show that the computationally efficient algorithms represent a very good compromise between low energy consumption and controller complexity.

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Section: Iii)mentioning

confidence: 99%

Torque Distribution Strategies for Energy-Efficient Electric Vehicles With Multiple Drivetrains

Lenzo

Filippis

Dizqah

et al. 2017

Journal of Dynamic Systems, Measurement, and Control

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“…The summations of longitudinal and lateral tire forces cannot exceed the boundary of the tire friction ellipse. In-wheel motor EVs have many advantages as a platform for vehicle motion control in the viewpoint of vehicle stability control [1][2][3][4]. Motors are mounted inside each wheel and driven independently, and this brings more potential in the improvement of vehicle handling and stability performance because of its fast response with precise control and high efficiency.…”

Section: Introductionmentioning

confidence: 99%

A Robust Control Method for Lateral Stability Control of In‐Wheel Motored Electric Vehicle Based on Sideslip Angle Observer

Wang

Kang

Wang

et al. 2018

Shock and Vibration

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In-wheel motored powertrain on electric vehicles has more potential in maneuverability and active safety control. This paper investigates the longitudinal and lateral integrated control through the active front steering and yaw moment control systems considering the saturation characteristics of tire forces. To obtain the vehicle sideslip angle of mass center, the virtual lateral tire force sensors are designed based on the unscented Kalman filtering (UKF). And the sideslip angle is estimated by using the dynamicsbased approaches. Moreover, based on the estimated vehicle state information, an upper level control system by using robust control theory is proposed to specify a desired yaw moment and correction front steering angle to work on the electric vehicles. The robustness of proposed algorithm is also analyzed. The wheel torques are distributed optimally by the wheel torque distribution control algorithm. Numerical simulation is carried out in Matlab/Simulink-Carsim cosimulation environment to demonstrate the effectiveness of the designed robust control algorithm for lateral stability control of in-wheel motored vehicle.

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“…Zhai et al [4] chose tire workload usages as the optimal objective for torque distribution, which was proved to improve the steering stability effectively. Yamakawa et al [22] selected the equivalent longitudinal force control error and the tire workload usages as optimal objectives to ensure the accuracy of the control, and, in [11], Li et al minimized the control error of the longitudinal force and yaw moment in the allocation algorithm. However, few studies considered energy saving in the optimal distribution algorithm.…”

Section: Introductionmentioning

confidence: 99%

“…Song et al [10] developed a hierarchical model-based control methodology consisting of five layers to enhance vehicle stability. Li et al [11] and He et al [12] separately studied an optimal torque distribution control strategy for improving the steering stability. Nevertheless, few studies considered energy saving in the design of the steering stability controller, which is an important performance index of the EVs.…”

Section: Introductionmentioning

confidence: 99%

Continuous Steering Stability Control Based on an Energy-Saving Torque Distribution Algorithm for a Four in-Wheel-Motor Independent-Drive Electric Vehicle

Zhai

Hou

Sun³

et al. 2018

Energies

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Abstract:In this paper, a continuous steering stability controller based on an energy-saving torque distribution algorithm is proposed for a four in-wheel-motor independent-drive electric vehicle (4MIDEV) to improve the energy consumption efficiency while maintaining the stability in steering maneuvers. The controller is designed as a hierarchical structure, including the reference model level, the upper-level controller, and the lower-level controller. The upper-level controller adopts the direct yaw moment control (DYC), which is designed to work continuously during the steering maneuver to better ensure steering stability in extreme situations, rather than working only after the vehicle is judged to be unstable. An adaptive two-hierarchy energy-saving torque distribution algorithm is developed in the lower-level controller with the friction ellipse constraint as a basis for judging whether the algorithm needs to be switched, so as to achieve a more stable and energy-efficient steering operation. The proposed stability controller was validated in a co-simulation of CarSim and Matlab/Simulink. The simulation results under different steering maneuvers indicate that the proposed controller, compared with the conventional servo controller and the ordinary continuous controller, can reduce energy consumption up to 23.68% and improve the vehicle steering stability.

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An optimal torque distribution control strategy for four-independent wheel drive electric vehicles

Cited by 107 publications

References 19 publications

Torque Distribution Strategies for Energy-Efficient Electric Vehicles With Multiple Drivetrains

Torque Distribution Strategies for Energy-Efficient Electric Vehicles With Multiple Drivetrains

A Robust Control Method for Lateral Stability Control of In‐Wheel Motored Electric Vehicle Based on Sideslip Angle Observer

Continuous Steering Stability Control Based on an Energy-Saving Torque Distribution Algorithm for a Four in-Wheel-Motor Independent-Drive Electric Vehicle

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