Energy-efficient torque-allocation strategy for a 6 × 6 vehicle using electric wheels

Hu, Jiayi; Li, Jianqiu; Hu, Zunyan; Zhang, Ben; Xu, Liangfei; Ouyang, Minggao

doi:10.1016/j.etran.2021.100136

Cited by 15 publications

(4 citation statements)

References 31 publications

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“…As the constituent node of platoons, vehicles have changed a lot in recent years. The maturity of in-wheel motors and steer-by-wire devices has promoted the widespread application of distributed-driven vehicles [12], [27], [30], [39]. Light weight, strong integration, and high power density of this driveline configuration are attractive while flexible control distribution and complex planar motion dynamics also introduce higher control requirements.…”

Section: Introductionmentioning

confidence: 99%

“…It is believed that effective coordination of motor torques and wheel angles enhances the utilization of tire forces thus expanding promising safety margin for vehicle planar motion, especially on common cornering maneuvers [29]. Thus the integration of active steering control and direct yaw moment control has attracted numerous attention in the past ten years [11], [12], [27], [29], [30], [39]. Control strategies in literature [12], [29] generate active steering and direct yaw moment firstly based on some specific rules, which are further assigned to motor torques and wheel angles.…”

Section: Introductionmentioning

confidence: 99%

“…Thus the integration of active steering control and direct yaw moment control has attracted numerous attention in the past ten years [11], [12], [27], [29], [30], [39]. Control strategies in literature [12], [29] generate active steering and direct yaw moment firstly based on some specific rules, which are further assigned to motor torques and wheel angles. The rationality of the rule set is hard to guarantee, however.…”

Section: Introductionmentioning

confidence: 99%

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Hierarchical Planar Platoon Control Toward Tracking Safety for Distributed-Driven Vehicles

2023

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This paper deals with the planar platoon control problem of distributed-driven electric vehicles considering modeling deviations and driving disturbances. The follower vehicle is arranged to track the leader vehicle on curved roads with high tracking accuracy and driving security. A hierarchical integrated control framework is proposed based on disturbance-rejection robust model predictive control (DRRMPC) strategy and optimal control allocation (OCA) approach. The upper layer is a feedforward control layer, where a linear time-varying (LTV) model predictive controller (MPC) produces constrained predictive control towards a nominal model. The time-interval-based reference states are obtained from a "shadow following" trajectory generator through vehicle-to-vehicle (V2V) communication. In the middle layer, the feedback control consisting of a robust controller (RC) and the disturbance compensation out of an extended state observer (ESO), take effect to reconfigure the LTV vehicle model into the nominal model with an off-line calculated constraint tube. The bottom layer performs optimal control allocation among decoupled motor torques and wheel angles towards minimal tire force utilization. Hardware-in-the-Loop (HIL) experiment validates the effectiveness and practicability of the proposed platoon control strategy.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Hierarchical Planar Platoon Control Toward Tracking Safety for Distributed-Driven Vehicles

2023

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“…Distributed drive electric vehicles utilize hub motors to directly drive electric wheels, and the vehicle control unit can control the motor output torque and rotation rate of each electric wheel with higher accuracy, thereby achieving more precise and complex vehicle dynamics control, such as antilock brake system (ABS), traction control system (TCS), electronic stability controller (ESC), fault-tolerant control, and vehicle planar motion control. [1][2][3] The estimation of the slip ratio of electric wheels is essential for active safety control systems: ABS and TCS control the tire slip ratio at an optimal value, ensuring the maximum friction between tire and road and maximizing the adhesion provided by the ground to ensure the braking safety and driving stability of the vehicle. 4 ESC maximizes vehicle response speed and vehicle stability control effect through the coordinated work of braking force distribution and slip ratio control strategy, ensuring driving safety under adhesion limit conditions.…”

Section: Introductionmentioning

confidence: 99%

Slip ratio estimation of electric wheels based on tire force and road conditions

et al. 2023

Proceedings of the Institution of Mechanical Engineers, Part D:

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The independently controlled electric wheels of distributed drive vehicles provide faster and more accurate actuators for vehicle slip ratio control. Meanwhile, the estimation of the slip ratio of electric wheels has been of vital importance for the dynamics control of distributed drive electric vehicles. However, the conventional slip ratio estimation method is hard to accurately estimate the slip ratio under steering conditions without multiple observations, increasing the cost and introducing errors. Considering that the output torque and motor rotation rate of electric wheels can be accurately collected, the novel slip ratio estimation method takes advantage of the signals of the electric wheels and requires fewer vehicle sensors. Based on the torsional vibration model of electric wheel, the slip ratio estimation method was proposed and validated by simulations and experiments. With the drum dynamometer, the slip ratio estimation method was applied to a single electric wheel for testing, proving the feasibility and accuracy of the proposed method. The slip ratio estimation was finally applied to a fuel cell heavy truck for road tests, of which the results show that the error index is reduced from 0.0152 to 0.0064 compared to the conventional slip ratio estimation method, confirming the good estimation performance achievable via the proposed method.

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A Comprehensive Analysis on Electronic Moment Power Steering Control Strategy for Multi-axle Distributed Drive Vehicles

Li,

Hu,

et al. 2024

Automot. Innov.

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Energy-efficient torque-allocation strategy for a 6 × 6 vehicle using electric wheels

Cited by 15 publications

References 31 publications

Hierarchical Planar Platoon Control Toward Tracking Safety for Distributed-Driven Vehicles

Hierarchical Planar Platoon Control Toward Tracking Safety for Distributed-Driven Vehicles

Slip ratio estimation of electric wheels based on tire force and road conditions

A Comprehensive Analysis on Electronic Moment Power Steering Control Strategy for Multi-axle Distributed Drive Vehicles

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