Combined wheel-slip control and torque blending using MPC

Satzger, Clemens; Castro, Ricardo de

doi:10.1109/iccve.2014.7297621

Cited by 16 publications

(8 citation statements)

References 10 publications

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“…(12) Based on (11) and (12) it is possible to reformulate the optimization problem as: * ( ( )) = min ( , ( )) (13) subject to:…”

Section: A Problem Formulationmentioning

confidence: 99%

“…A linear MPC strategy is developed in [10], where the ABS slip regulation is achieved through torque blending between the friction brakes and in-wheel motors. Similarly, [11], [12] and the very recent research [13] combine ABS control and torque blending, by using a linear MPC formulation. [14] presents an MPC-based ABS, with test results on a hardware-in-the-loop rig.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Explicit Nonlinear Model Predictive Control for Electric Vehicle Traction Control

Tavernini

Metzler

Gruber

et al. 2019

IEEE Trans. Contr. Syst. Technol.

103

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Abstract-This study presents a traction control system for electric vehicles with in-wheel motors, based on explicit non-linear model predictive control. The feedback law, available beforehand, is described in detail, together with its variation for different plant conditions. The explicit controller is implemented on a rapid control prototyping unit, which proves the real-time capability of the strategy, with computing times in the order of microseconds. These are significantly lower than the required sampling time for a traction control application. Hence, the explicit model predictive controller can run at the same frequency as a simple traction control system based on Proportional Integral (PI) technology. High-fidelity model simulations provide: i) a performance comparison of the proposed explicit non-linear model predictive controller with a benchmark PI-based traction controller with gain scheduling and anti-windup features; and ii) a performance comparison among two explicit and one implicit non-linear model predictive controllers based on different internal models, with and without consideration of transient tire behavior and load transfers. Experimental test results on an electric vehicle demonstrator are shown for one of the explicit non-linear model predictive controller formulations.Index Terms-traction control, wheel slip, model predictive control, PI control, electric vehicle, in-wheel motors.Sorniotti (email: a.sorniotti@surrey.ac.uk) are with the

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“…(12) Based on (11) and (12) it is possible to reformulate the optimization problem as: * ( ( )) = min ( , ( )) (13) subject to:…”

Section: A Problem Formulationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Explicit Nonlinear Model Predictive Control for Electric Vehicle Traction Control

Tavernini

Metzler

Gruber

et al. 2019

IEEE Trans. Contr. Syst. Technol.

103

View full text Add to dashboard Cite

show abstract

“…By substituting (15)- (18) into (14), the wheel slip dynamics equation, i.e., the first differential equation of the eNMPC internal model, is obtained:…”

Section: B Internal Prediction Modelmentioning

confidence: 99%

“…In [16] an ABS based on a gain scheduled linear quadratic regulator was tested on a vehicle with electromechanical brake calipers. Linear MPCs are discussed in [17][18][19], in the context of ABS including torque blending between friction brakes and in-wheel motors. In [20] the MPC strategy is compared with a PI controller, and is assessed on an electric vehicle prototype.…”

Section: Introductionmentioning

confidence: 99%

An Explicit Nonlinear Model Predictive ABS Controller for Electro-Hydraulic Braking Systems

Tavernini

Vacca

Metzler

et al. 2020

IEEE Trans. Ind. Electron.

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This study addresses the development and Hardware-in-the-Loop (HiL) testing of an explicit nonlinear model predictive controller (eNMPC) for an anti-lock braking system (ABS) for passenger cars, actuated through an electro-hydraulic braking (EHB) unit. The control structure includes a compensation strategy to guard against performance degradation due to actuation dead times, identified through experimental tests. The eNMPC is run on an automotive rapid control prototyping unit, which shows its real-time capability with comfortable margin. A validated high-fidelity vehicle simulation model is used for the assessment of the ABS on a HiL rig equipped with the braking system hardware. The eNMPC is tested in 7 emergency braking scenarios, and its performance is benchmarked against a proportional integral derivative (PID) controller. The eNMPC results show: i) the control system robustness with respect to variations of tire-road friction condition and initial vehicle speed; and ii) a consistent and significant improvement of the stopping distance and wheel slip reference tracking, with respect to the vehicle with the PID ABS.

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“…In this formulation the wheel torque is the sum of all actuated torques at the wheels. The allocation of the wheel torques is not part of this work and is treated in [14]. The computation of (29) requires the measurement of wheel speed , steering angle , vehicle speed and vehicle speed derivative .…”

Section: Control Allocationmentioning

confidence: 99%