Extension coordinated control of distributed-driven electric vehicles based on evolutionary game theory

Zheng, Zichen; Zhao, Xuan; Wang, Shu; Yu, Qiang; Zhang, Haichuan; Li, Z.; Chai, Hua; Han, Qiang

doi:10.1016/j.conengprac.2023.105583

Cited by 11 publications

(11 citation statements)

References 31 publications

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“…Usually, the establishment of the replication dynamics equation assumes that the costs and benefits are invariant, which is obviously inconsistent with reality, considering that the costs and benefits are slow variables that are not sensitive to time, or the costs and benefits here are averaged costs and benefits and therefore can be viewed as invariant [21]. Based on the above analysis, the replicated dynamic system of equations for the probability of strategy selection of local government, enterprises, and higher vocational colleges and universities can be obtained as:…”

Section: Replicated Dynamic Equations and Stability Analysismentioning

confidence: 99%

Analysis of the institutional mechanism of school-site cooperation facilitated by artificial intelligence technology in the context of industry-education integration

2024

Applied Mathematics and Nonlinear Sciences

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School-local cooperation is an inevitable choice for higher vocational education, and the construction of school-local cooperation institutions and mechanisms has become the key to the deep integration of school-local, mutual benefit and win-win, long-term stability. Based on the evolutionary game theory under artificial intelligence technology, this paper establishes a tripartite game interaction model of government-enterprise-university, makes relevant research assumptions for the triple game interaction model, solves the threefold benefit function, and constructs a tripartite payment matrix of game interaction based on the research assumptions. Based on the three-party game payment matrix, the stability of the three-party evolutionary game model is studied by replicating the dynamic equations. To obtain the specific strategy of the institutional mechanism of school-local cooperation, the stability of the evolutionary game model was analyzed by numerical simulation and simulation using MATLAB software. The results show that: when the model parameters satisfy the stability condition H(1,1,1), the university and enterprise can reach stability after 0.4 and 0.2 unit time of evolution respectively, and the tripartite evolutionary stability can be realized when the participation costs of local government, enterprise and university are all 80, which promotes the choice of school-local cooperation strategy and enhances the quality of talent cultivation in higher vocational education.

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Section: Replicated Dynamic Equations and Stability Analysismentioning

confidence: 99%

Analysis of the institutional mechanism of school-site cooperation facilitated by artificial intelligence technology in the context of industry-education integration

2024

Applied Mathematics and Nonlinear Sciences

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“…Additionally, the scaling ratio has limited adaptability to operating conditions and lacks a theoretical basis. Another study [25] determined the critical front wheel angle via the simulation analysis of tire lateral characteristics under specific conditions and calculated the extension domain boundary values using a dynamics model. While this method has some theoretical basis, it cannot dynamically adjust the limit value of the front wheel angle, which depends on the predetermined simulation conditions, making it challenging to meet the vehicle's requirements under different conditions.…”

Section: Extension Domain Boundarymentioning

confidence: 99%

“…In [24], Chen et al proposed an extension controller which divided the classical domain, extension domain, and non-domain based on the phase plane, and designed different control strategies in different areas to improve the vehicle's handling stability. In [25], Zheng et al proposed an extension coordination control for distributed drive electric vehicles based on evolutionary game theory. They played a game on the control weights of AFS and DYC and verified the effectiveness of the strategy via vehicle tests.…”

Section: Introductionmentioning

confidence: 99%

“…To further clarify the characteristics of the proposed control strategy in this study, a comparison is made with chassis coordinated control strategies proposed in References [24,25]. Both references utilized chassis coordinated control strategies that were based on extension theory and dynamically adjusted the control weights for the driving and steering subsystems.…”

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confidence: 99%

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Coordinated Control for the Trajectory Tracking of Four-Wheel Independent Drive–Four-Wheel Independent Steering Electric Vehicles Based on the Extension Dynamic Stability Domain

Qiao,

Chen,

Yin

2024

Actuators

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In order to achieve multi-objective chassis coordination control for 4WID-4WIS (four-wheel independent drive–four-wheel independent steering) electric vehicles, this paper proposes a coordinated control strategy based on the extension dynamic stability domain. The strategy aims to improve trajectory tracking performance, handling stability, and economy. Firstly, expert PID and model predictive control (MPC) are used to achieve longitudinal speed tracking and lateral path tracking, respectively. Then, a sliding mode controller is designed to calculate the expected yaw moment based on the desired vehicle states. The extension theory is applied to construct the extension dynamic stability domain, taking into account the linear response characteristics of the vehicle. Different coordinated allocation strategies are devised within various extension domains, providing control targets for direct yaw moment control (DYC) and active rear steering (ARS). Additionally, a compound torque distribution strategy is formulated to optimize driving efficiency and tire adhesion rate, considering the vehicle’s economy and stability requirements. The optimal wheel torque is calculated based on this strategy. Simulation tests using the CarSim/Simulink co-simulation platform are conducted under slalom test and double-lane change to validate the control strategy. The test results demonstrate that the proposed control strategy not only achieves good trajectory tracking performance but also enhances handling stability and economy during driving.

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“…Among these, active front wheel steering (AFS) and direct yaw moment control (DYC) are effective techniques to enhance lateral stability and handling. The difference is that AFS can change lateral tire force by producing an additional angle to the front wheel, but DYC can provide a corrective yaw moment created by longitudinal tire force [3]. It is noteworthy that DYC outperforms AFS, particularly in ensuring vehicle stability during emergency conditions including high speed, slippery pavement, and substantial steering wheel angles [4].…”

Section: Introductionmentioning

confidence: 99%

Adaptive Nonsingular Fast Terminal Sliding Mode-Based Direct Yaw Moment Control for DDEV under Emergency Conditions

Zhang,

Ma,

Zhou

2024

Actuators

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This paper presents an innovative three-level direct yaw moment control strategy for distributed drive electric vehicles (DDEV) under emergency conditions. The phase plane analysis is used at the supervisory level to design the stability boundary function taking into account the impact of the road adhesion coefficient. To guarantee the performance of finite-time convergence and singularity-free methods, the adaptive nonsingular fast terminal sliding mode control (ANFTSMC) is developed at the decision level to determine the extra yaw moment for tracking the intended side slip angle and yaw rate. Among this, the unstable domain in the phase plane is further separated into moderately and severely unstable according to the degree of vehicle instability, which is defined by the distance between the state phase point and the stability boundary. Meanwhile, the adaptive weight between the handling and stability is obtained. At the executive level, the quadratic programming algorithm is adopted to allocate four-wheel torque with the objective of optimal tire utilization rate. Finally, the co-simulation test is executed in both closed-loop and open-loop circumstances; according to the simulation results, the presented ANFTSMC method outperforms the SMC, and it can decrease the tracking error and improve the handling and stability.

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Extension coordinated control of distributed-driven electric vehicles based on evolutionary game theory

Cited by 11 publications

References 31 publications

Analysis of the institutional mechanism of school-site cooperation facilitated by artificial intelligence technology in the context of industry-education integration

Analysis of the institutional mechanism of school-site cooperation facilitated by artificial intelligence technology in the context of industry-education integration

Coordinated Control for the Trajectory Tracking of Four-Wheel Independent Drive–Four-Wheel Independent Steering Electric Vehicles Based on the Extension Dynamic Stability Domain

Adaptive Nonsingular Fast Terminal Sliding Mode-Based Direct Yaw Moment Control for DDEV under Emergency Conditions

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