Decentralized integration of constrained active steering and torque vectoring systems to energy-efficient stability control of electric vehicles |
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| Institution: | 1. School of Electronics Engineering, Kyungpook National University, 80 Daehakro, Bukgu, Daegu 41566, Republic of Korea;2. Department of Control and Instrumentation Engineering, Pukyong National University, 45 Yongsoro, Namgu, Busan 48513, Republic of Korea;1. School of Astronautics, Harbin Institute of Technology, Harbin 150001, China;2. The Department of Automation, Tsinghua University, Beijing 100084, China;3. Center for Control Theory and Guidance Technology, Harbin Institute of Technology, Harbin 150001, China;1. School of Chemical and Environmental Engineering, Liaoning University of Technology, Jinzhou, Liaoning, 121001, China;2. College of Science, Liaoning University of Technology, Jinzhou, Liaoning, 121001, China;1. School of Internet Finance and Information Engineering, Guangdong University of Finance, Guangzhou,510521, China;2. School of Automation, Guangdong University of Technology, Guangzhou, 510006, China;3. Guangdong-HongKong-Macao Joint Laboratory for Smart Discrete Manufacturing, Guangzhou, 510006, China;4. School of Computer Science and Engineering, South China University of Technology, Guangzhou, 510006, China |
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| Abstract: | In this paper, the optimal driving torques of four wheels in an electric vehicle (EV) are obtained by minimizing the losses of four in-wheel motors. In order to slightly change these optimal torques for vehicle stability recovery, a new constrained active front steering (AFS) system is analytically designed and integrated with the torque vectoring (TV) system in a novel decentralized structure. In the proposed structure, the required external yaw moment is applied by the TV controller only when the constrained AFS is filled to capacity determined by a stability index extracted from the nonlinear phase plane analysis. As a result of this integration strategy, the external yaw moment is used as low as possible. Consequently, the torques in electrical motors are used near the optimal values consistent with optimal energy consumption. Comparative simulation studies with the standalone TV are conducted in the CarSim software environment to show the efficiency of the proposed decentralized control structure in terms of energy consumption and stability. Moreover, the suitability of the constrained control method used in the integration structure is shown in comparison with the well-known nonlinear model predictive control method in terms of practical implementation. |
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