Integrated tire slip energy dissipation and lateral stability control of distributed drive electric vehicle with mechanical elastic wheel |
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| Institution: | 1. College of Energy and Power Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China;2. School of Automobile and Rail Transportation, Nanjing Institute of Technology, Nanjing 211167, China;1. Automotive Engineering Research Institute, Jiangsu University, Zhenjiang 212013, China;2. Key Laboratory of Advanced Manufacture Technology for Automobile Parts, Chongqing University of Technology, Ministry of Education, Chongqing 400054, China;1. School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, PR China;2. School of Mechanical and Electrical Engineering, Guilin University of Electronic Technology, Guilin 541004, PR China;3. Department of Mechanical and Aerospace Engineering, Ohio State University, Columbus, OH43210, USA;4. School of Mechanical Engineering, Southeast University, Nanjing 211189, PR China |
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| Abstract: | Stability and energy consumption have always been important issues in electric vehicle research. Excessive slip energy not only aggravates tire wear, but also consumes energy of electric vehicle. In order to ensure the lateral stability and to reduce the slip energy dissipation of the distributed drive electric vehicle (DDEV) equipped with Mechanical Elastic Wheel (MEW), an integrated framework considering both tire slip energy dissipation and lateral stability control is proposed. The SESC (Slip Energy and Stability Control) is a hierarchical control framework for DDEV with MEW. A PID speed tracking controller and an (Integral Terminal Slide Mode) ITSM controller are designed at the upper-level controller. The ITSM controller can improve the lateral stability of the vehicle by obtaining the desired yaw moment. Speed tracking controller can stabilize the speed of the vehicle and obtain the desired longitudinal force. At the lower-level controller, the brush model of the MEW is proposed to express tire slip energy. In order to reduce the error of the vehicle dynamics and the slip energy dissipation, a mixed objective function including a holistic corner controller (HCC) and a minimum tire slip energy characterization is proposed. The proposed control framework is verified by Carsim and Matlab/Simulink under emergency simulation conditions. The simulation results show that the SESC based method can improve the lateral stability of DDEV with MEW effectively, and has better performance compared with fuzzyPID+AD based method. Meanwhile, the SESC achieves less slip energy than conventional torque distribution method. |
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