Electric vehicles with individually controlled on-board motors: Revisiting the ABS design

Ivanov, Valentin; Savitski, Dzmitry; Augsburg, Klaus; Barber, Phil

doi:10.1109/icmech.2015.7083996

Cited by 18 publications

(11 citation statements)

References 14 publications

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“…This is caused by the higher control bandwidth and precision in torque modulation that electric drivetrains can offer, with respect to the more conventional internal combustion engines and hydraulic / electro-hydraulic braking units. [2] and [3] include experimentally measured reductions in stopping distances and acceleration times, achieved through the continuous modulation of the electric drivetrain torques. However, further work can be done in terms of control design to enhance the slip ratio tracking performance and the seamless blending of the regenerative and dissipative braking contributions.…”

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.

104

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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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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.

104

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show abstract

“…A particular case in point is the development of shift‐by‐wire technology for electrical and hybrid vehicles, where it is desirable to place the solid‐state electromechanical actuators closer to engine and transmission lines in order to achieve greater energy efficiency . One critical area that has received significant attention is the development of passive circuit components for high‐temperature applications . Examples include high‐energy density bus capacitors for traction motor drive, snubber capacitors to minimize power dissipation and filter capacitors for DC‐to‐DC conversion at different voltage levels.…”

Section: Introductionmentioning

confidence: 99%

Effect of A‐site substitutions on energy storage properties of BaTiO₃‐BiScO₃ weakly coupled relaxor ferroelectrics

et al. 2019

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Weakly coupled relaxors based on compositions (1‐x) BaTiO3‐xBiMeO3, where Me is a metal ion, have attracted attention as potential candidates for high‐temperature high‐energy density capacitors. However, the necessary Bi content is typically high with x = 0.3‐0.4. In order to reduce problems associated with compatibility for base metal electrodes and due to additional problems due to Bi volatility, it is desirable to lower the Bi content in the overall composition for these materials. Here, we have explored a possible way to reduce BiMeO3 content through additional A‐site substitutions viz. Ca and Sn. The relaxor nature and energy storage properties of Sn‐modified (Ba,Ca)(Ti)O3‐BiScO3 ceramics were determined from their dielectric and ferroelectric behaviors. The material showed attractive properties in terms of a frequency‐independent (200 Hz‐1 MHz) dielectric response from room temperature to 200°C, extremely low loss and high‐energy storage efficiency. The structural phenomena underlying the functional properties of Sn‐modified (Ba,Ca)TiO3‐BiScO3 are characterized from temperature‐dependent X‐ray diffraction and pair distribution function analysis. In broader terms, the study illustrates the potential for tailoring relaxor behavior in Pb‐free ferroelectrics by combining phenomena, such as quantum fluctuations and lone pair stereochemical effect associated with different solid‐solution substitutions.

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“…The proposed control algorithm outperforms both of these laws in terms of following the reference slip ratio, despite the fact that all of them loose precision at low speeds. Ivanov et al 4 tracked an optimal slip value with a simple PI controller for an on-board drivetrain architecture. The road test results show that splitting the torque between the friction brakes and the electric motor results in shorter stopping distances compared to the conventional ABS operation without electric motor actuation.…”

Section: Introductionmentioning

confidence: 99%

Performance comparison of electric-vehicle drivetrain architectures from a vehicle dynamics perspective

Bayar

2019

Proceedings of the Institution of Mechanical Engineers, Part D:

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Recent electric vehicle studies in literature utilize electric motors within an anti-lock braking system, traction-control system, and/or vehicle-stability controller scheme. Electric motors are used as hub motors, on-board motors, or axle motors prior to the differential. This has led to the need for comparing these different drivetrain architectures with each other from a vehicle dynamics standpoint. With this background in place, using MATLAB simulations, these three drivetrain architectures are compared with each other in this study. In anti-lock braking system and vehicle-stability controller simulations, different control approaches are utilized to blend the electric motor torque with hydraulic brake torque; motor ABS, torque decomposition, and optimal slip-tracking control strategies. The results for the anti-lock braking system simulations can be summarized as follows: (1) Motor ABS strategy improves the stopping distance compared to the standard anti-lock braking system. (2) In case the motors are not solely capable of providing the required braking torque, torque decomposition strategy becomes a good solution. (3) Optimal slip-tracking control strategy improves the stopping distance remarkably compared to the standard anti-lock braking system, motor anti-lock braking system, and torque decomposition strategies for all architectures. The vehicle-stability controller simulation results can be summarized as follows: (1) higher affective wheel inertia of the on-board and hub motor architecture dictates a higher need of wheel torque in order to generate the tire force required for the desired yaw rate tracking. A higher level of torque causes a higher level of tire slip. (2) Optimal slip-tracking control strategy reduces the tire slip trends drastically and distributes the traction/braking action to each tire with the control-allocation algorithm specifying the reference slip values. This reduces reference tire slip-tracking error and reduces vehicle sideslip angle. (3) Tire slip trends are lower with the hub motor architecture, compared to the other architectures, due to more precise slip control.

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Electric vehicles with individually controlled on-board motors: Revisiting the ABS design

Cited by 18 publications

References 14 publications

Explicit Nonlinear Model Predictive Control for Electric Vehicle Traction Control

Explicit Nonlinear Model Predictive Control for Electric Vehicle Traction Control

Effect of A‐site substitutions on energy storage properties of BaTiO₃‐BiScO₃ weakly coupled relaxor ferroelectrics

Performance comparison of electric-vehicle drivetrain architectures from a vehicle dynamics perspective

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Electric vehicles with individually controlled on-board motors: Revisiting the ABS design

Cited by 18 publications

References 14 publications

Explicit Nonlinear Model Predictive Control for Electric Vehicle Traction Control

Explicit Nonlinear Model Predictive Control for Electric Vehicle Traction Control

Effect of A‐site substitutions on energy storage properties of BaTiO3‐BiScO3 weakly coupled relaxor ferroelectrics

Performance comparison of electric-vehicle drivetrain architectures from a vehicle dynamics perspective

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Effect of A‐site substitutions on energy storage properties of BaTiO₃‐BiScO₃ weakly coupled relaxor ferroelectrics