This content is not included in
your SAE MOBILUS subscription, or you are not logged in.
Improving Handling Performance of an Electric Vehicle Using Model Predictive Control
Technical Paper
2015-01-0082
ISSN: 0148-7191, e-ISSN: 2688-3627
Annotation ability available
Sector:
Language:
English
Abstract
Electric vehicles (EVs) have been gaining a lot of focus and attention as they run clean and are environment friendly. EVs use in-hub motors, which can be independently controlled, improving this way the maneuverability and allowing augmented control actions. This paper discusses the development of a Model Predictive Controller (MPC) to improve vehicle handling characteristics. Wheel torques are independently controlled using direct yaw moment and side slip control method to pro-actively improve vehicle handling. At high values of side slip the steering is no more capable of generating yaw moment and vehicle becomes laterally unstable. By unequal torque distribution a restoring yaw moment is generated and vehicle stability is ensured. The MPC computes the optimal couple traction/braking torque of the four in-wheel motors, from basic driving slogans, which are, steering angle and desired speed. The reference trajectories of yaw rate and side slip angle are also inputted in the controller. The controller output is four wheel torques which are fed to the vehicle. The vehicle is modelled in ADAMS-Car® to incorporate nonlinear suspension dynamics, compliance effects, roll and pitch motions, sophisticated tire model, etc. which are the major limitations of a single track bicycle model. The vehicle model is exported in state space form to the MATLAB® environment to be integrated with the control model. The controller is able to track the reference yaw rate and desired trajectory with negligible side slip. Simulation results with control application have been discussed for a lane change event.
Authors
Citation
Kanchwala, H. and Bordons, C., "Improving Handling Performance of an Electric Vehicle Using Model Predictive Control," SAE Technical Paper 2015-01-0082, 2015, https://doi.org/10.4271/2015-01-0082.Also In
References
- Shibahata , Y. , Shimada , K. , Tomari , T. 1993 Improvement of vehicle maneuverability by direct yaw moment control Vehicle Syst. Dynam. 22 5 465 481
- van Zanten , A. , Erhardt , R. , Landesfeind , K. , and Pfaff , G. VDC Systems Development and Perspective SAE Technical Paper 980235 1998 10.4271/980235
- Wang J. and Longoria R. G. Coordinated Vehicle Dynamics Control with Control Distribution Proceedings of the 2006American Control Conference 5348 5353 2006
- Abe , M. 1999 Vehicle dynamics and control for improving handling and active safety: from four-wheel steering to direct yaw moment control Proc. Inst. Mech. Eng., Part K: J. Multi-body Dynam. 213 2 87 101
- Selby , M. , Manning , W. , Brown , M. , and Crolla , D. A Coordination Approach for DYC and Active Front Steering SAE Technical Paper 2001-01-1275 2001 10.4271/2001-01-1275
- Zheng , S. , Tang , H. , Han , Z. , Zhang , Y. 2006 Controller design for vehicle stability enhancement Control Eng. Pract. 14 12 1413 1421
- Park , K. , Heo , S. , Baek , I. 2001 Controller design for improving lateral vehicle dynamic stability JSAE Rev. 22 4 481 486
- Gutiérrez J. , Romo J. , González M. I. , Cañibano E. , and Merino J. C. Control algorithm development for independent wheel torque distribution with 4 in-wheel electric motors 2011 257 262
- Yamakawa Junya , Watanabe Keiji 2006 A method of optimal wheel torque determination for independent wheel drive vehicles Journal of Terramechanics 43 2006 269 285
- Mirzaei , M. , Alizadeh , G. , Eslamian , M. , Azadi , Sh. 2008 Anoptimal approach to nonlinear control of vehicle yaw dynamics Proc. IMechE Part I: J. Syst. Control Eng. 222 4 217 229
- Tahami F. , Farhangi S. , and Kazemi R. A fuzzy logic direct yaw-moment control system for all-wheel-drive electric vehicles Vehicle System Dynamics 41 203 221 2004
- Park , K. , Heo , S. , Baek , I. 2001 Controller design for improving lateral vehicle dynamic stability JSAE Rev. 22 4 481 486
- http://www.mscsoftware.com/product/adams 3 rd September 2014
- http://www.solidworks.com 3 rd September 2014
- http://www.mathworks.com 3 rd September 2014
- Mayne , D.Q. , Rawllings J.B. , Rao C.V. and Skokaert P.O.M. 2000 Constrained model predictive control: Stability and optimality Automatica 36 6 789 814
- Borrelli , F. , Falcone P. , Keviczky T. and Asgari J. 2005 MPC-based approach to active steering for autonomous vehicle systems International Journal of Vehicle Autonomous Systems 3 2 265 291
- Davison E. J. A method for simplifying linear dynamic systems IEEE Trans. Auto.Contr. AC-11 93 101 Jan. 1966
- Chidambara M. R. and Davison E. J. A method for simplifying linear dynamic systems IEEE Trans. Auto. Contr.(Correspondence) AC-12 119 121 Feb. 1967
- Aoki M. Control of Large Scale Dynamic Systems by Aggregation IEEE Trans. Auto. Contr. AC-13 246 253 Jun. 1968
- Shamash Y. Linear system reduction using Padé approximation to allow retention of dominant modes Int. J. Contr. 21 2 257 272 1975
- Rao A. S. Routh approximant state space reduced order models for system with uncontrollable modes IEEE Trans. Auto. Contr. AC-26 1286 1288 1981
- Chen C. F. , Shieh L. S. A novel approach to linear model simplification Int. J. Control 8 6 561 570 1968
- Moore B. Principal Component analysis in linear systems: controllability, observability and model reduction IEEE Trans. Auto. Contr. AC-26 17 31 1981
- Goddard Philip John Performance-Preserving Controller Approximations Ph. D. Thesis Trinity College Cambridge Feb. 1995
- Bakker , E. , Nyborg , L. , and Pacejka , H. Tyre Modelling for Use in Vehicle Dynamics Studies SAE Technical Paper 870421 1987 10.4271/870421
- Gillespie , T. Fundamentals of Vehicle Dynamics Warrendale Society of Automotive Engineers, Inc. 1992 978-1-56091-199-9
- Milliken , W. , Milliken , D. Chassis Design, Principles and Analysis Warrendale Society of Automotive Engineers, Inc. 1992 978-0-7680-0826-5
- Milliken , W. , Milliken , D. Race Car Vehicle Dynamics Warrendale Society of Automotive Engineers, Inc. 1994 978-1-56091-526-3
- Reimpell , J. , Stoll , H. , Betzler , J. The Automotive Chassis Warrendale Society of Automotive Engineers, Inc. 2001 978-0-7506-5054-0
- Guiggiani , Massimo 2014 The Science of Vehicle Dynamics 1st. Dordrecht Springer 978-94-017-8532-7