Lateral Stability Control System Based on Cooperative Torque Distribution for a Four In-Wheel Motor Drive Electric Vehicle

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• 英文论文题名：Lateral Stability Control System Based on Cooperative Torque Distribution for a Four In-Wheel Motor Drive Electric Vehicle
• 论文作者：Shoutao Li ; Di Zhao ; Luyu Zhang ; Yantao Tian
• 英文论文作者：Shoutao Li ; Di Zhao ; Luyu Zhang ; Yantao Tian ; College of Communication Engineering ; Jilin University
• 年：2017
• 作者机构：College of Communication Engineering,Jilin University;
• 英文论文关键词：cooperative torque distribution ; vehicle lateral stability ; constrained optimal ; nonlinear model predictive control
• 会议召开时间：2017-07-26
• 会议录名称：第36届中国控制会议论文集（A）
• 英文会议录名称：Proceedings of the 36th Chinese Control Conference（A）
• 语种：英文
• 分类号：TP273;U469.72
• 学会代码：KZLL
• 会议名称：第36届中国控制会议
• 会议地点：中国辽宁大连
• 主办单位：中国自动化学会控制理论专业委员会
• 学会名称：中国自动化学会控制理论专业委员会
• 页数：5
• 文件大小：563k
• 原文格式：D
• 会议级别：全国

摘要

In this study, nonlinear and actuator redundancy problems are proposed in the vehicle lateral stability control system for a four in-wheel motor drive electric vehicle. The solution of tire nonlinear problem uses nonlinear model predictive control method to obtain the target direct yaw moment. The torque distribution algorithm is designed to use the constrained optimal control theory based on Lagrange multiplier method. Motor torque often cannot meet the demand of torque because of the limitation of torque provided by the motor; this paper proposes the control strategy based on cooperative in-wheel motor and hydraulic brake during braking. A CARSIM MATLAB co-simulation is conducted for algorithm verification. It is found from the simulation results that the proposed control scheme which is effective to trace the desired yaw rate and side-ship angle simultaneously as well as guaranteed the vehicle lateral stability.
In this study, nonlinear and actuator redundancy problems are proposed in the vehicle lateral stability control system for a four in-wheel motor drive electric vehicle. The solution of tire nonlinear problem uses nonlinear model predictive control method to obtain the target direct yaw moment. The torque distribution algorithm is designed to use the constrained optimal control theory based on Lagrange multiplier method. Motor torque often cannot meet the demand of torque because of the limitation of torque provided by the motor; this paper proposes the control strategy based on cooperative in-wheel motor and hydraulic brake during braking. A CARSIM MATLAB co-simulation is conducted for algorithm verification. It is found from the simulation results that the proposed control scheme which is effective to trace the desired yaw rate and side-ship angle simultaneously as well as guaranteed the vehicle lateral stability.

引文

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