The research of torque distribute strategy for 6-Wheel-Independent-Driving (6WID) electric vehicle

Ma, Yue; Xiao-hong, LI; Zhi, Jinning

doi:10.1109/itec-ap.2014.6940630

Cited by 3 publications

(1 citation statement)

References 11 publications

(8 reference statements)

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“…All-wheel individual control alone has great potential and can create high performance advanced all-wheel-drive system with improved efficiency, performance, and safety. 10–14 However, coordinated wheel torque control is the key factor in achieving skid steering and vehicle control. 4,11,15 In the absence of a driveline and transmission system, the question arises for the control of the vehicle as “how can the motion of individual drivers be coordinated for overall control?”…”

Section: Introductionmentioning

confidence: 99%

Hierarchical coordinated control distribution and experimental verification for six-wheeled unmanned ground vehicles

Prasad

Wang

et al. 2020

Proceedings of the Institution of Mechanical Engineers, Part D:

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In recent years, the all-wheel independent drive has been the most promising form of drive configuration in unmanned ground vehicles. Considering the difficulties in the control allocation for this kind of vehicle, this paper presents a hierarchical control coordination strategy with three layers to distribute control in real time effectively and accurately. In the upper layer, a hybrid instruction parsing method is proposed, which converts commands of the control panel into driving force requirement and target steering yaw rate, respectively, to prioritize steering command to maintain the trajectory based on the motor properties. Subsequently, a sliding mode controller is employed to convert the target yaw rate into the required yaw moment. The state estimation layer receives data from the sensors and estimates different properties/parameters required in other layers. The lower-level control layer receives commands from the upper layer and allocates respective control to wheels. The control allocation problem has been formulated as an optimization problem and later has been converted into a quadratic programming problem, in which a novel modified barrier method with the combination of reduced equation dimension has been adopted to minimize the computational effort and complexity for implementation on the embedded platform. Computer simulation and field experiment have been conducted, which verify the performance of the proposed strategy.

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Section: Introductionmentioning

confidence: 99%

Hierarchical coordinated control distribution and experimental verification for six-wheeled unmanned ground vehicles

Prasad

Wang

et al. 2020

Proceedings of the Institution of Mechanical Engineers, Part D:

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Multi-motor solutions for electric vehicles

Popescu

Dumitran

Stanescu

2021

2021 International Conference on Applied and Theoretical Electricity (ICATE)

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Simulation of Multi-Motor Propulsion System for Energy Efficiency in Electric Vehicles

Popescu¹,

Dumitran²,

Stanescu³

2021

AUCEE

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For a vehicle, the knowledge of components, characteristics, performances, and behaviors are some base elements for a successful simulation. Today's tools are offering instruments able to cover a such request and new possibilities appear. Choosing the right ones, representing the entire vehicle as a system of subsystems, integrating as much as possible the parameters of different components, are also few additional elements. For internal combustion engine vehicles, the generation and the transmission of the mechanical power to the wheels imply the usage of specific mechanic parts. From a single engine, the mechanical power is controlled to offer the requested torque and speed simultaneously to the vehicle wheels, passing by clutches and gearboxes. An electric propulsion, generating high torque at zero speed, and covering large speed area, implies less components for the mechanical transmissions. One single gear, a reducer, could cover the entire speed area request of the vehicle. On the other hand, it is possible to approach the generation of the mechanical power to the wheels, by using not only one electric motor, but one for each axle, or, even more, one electric motor for each wheel of the vehicle. This paper presents the usage of numerical simulation in such situations, emphasizing opportunities for onboard energy efficiency improvement, and opening new possibilities for optimization in multiple motor solutions.

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The research of torque distribute strategy for 6-Wheel-Independent-Driving (6WID) electric vehicle

Cited by 3 publications

References 11 publications

Hierarchical coordinated control distribution and experimental verification for six-wheeled unmanned ground vehicles

Hierarchical coordinated control distribution and experimental verification for six-wheeled unmanned ground vehicles

Multi-motor solutions for electric vehicles

Simulation of Multi-Motor Propulsion System for Energy Efficiency in Electric Vehicles

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