Allocation-Based Control with Actuator Dynamics for Four-Wheel Independently Actuated Electric Vehicles

Event
SAE 2015 World Congress & Exhibition
Authors Abstract
Content
This paper proposes a novel allocation-based control method for four-wheel independently actuated electric vehicles. In the proposed method, both actuator dynamics and input/output constraints are fully taken into consideration in the control design. First, the actuators are modeled as first-order dynamic systems with delay. Then, the control allocation is formulated as an optimization problem, with the primary objective of minimizing errors between the actual and desired control outputs. Other objectives include minimizing the power consumption and the slew rate of the actuator outputs. As a result, this leads to frequency-dependent allocation that reflects the bandwidth of each actuator. To solve the optimization problem, an efficient numerical algorithm is employed. Finally the proposed control allocation method is implemented to control a four-wheel independently actuated electric vehicle. Simulation results show that the proposed method is valid and effective in improving the actuator response and subsequently the handling performance.
Meta TagsDetails
DOI
https://doi.org/10.4271/2015-01-0653
Pages
8
Citation
Wang, Y., Deng, W., Zhu, B., Zhao, Q. et al., "Allocation-Based Control with Actuator Dynamics for Four-Wheel Independently Actuated Electric Vehicles," Passenger Cars - Electronic and Electrical Systems 8(2):425-432, 2015, https://doi.org/10.4271/2015-01-0653.
Additional Details
Publisher
Published
Apr 14, 2015
Product Code
2015-01-0653
Content Type
Journal Article
Language
English