Control allocation in the dynamic control of an eight in-wheel motored vehicle

Author

Rui Zhang ; Chengning Zhang

Author_Institution

Nat. Eng. Lab. for Electr. Vehicles, Beijing Inst. of Technol., Beijing, China

fYear

2014

fDate

Aug. 31 2014-Sept. 3 2014

Firstpage

1

Lastpage

6

Abstract

An eight wheel independent driving / four wheel independent steering (8WID4WIS) electric vehicle (EV), which is equipped with eight in-wheel motors and a steer-by-wire system, is studied in this paper. A hierarchically coordinated vehicle dynamics control system, including a high-level vehicle motion controller, control allocation scheme, and a lower-level slip/slip angle controller, is proposed for the vehicle system. The high-level controller is designed to produce generalized forces/moment, distributed to slip/slip angle of each tire by an advanced control allocation method. Evaluation of the overall system is accomplished by simulation testing under adverse driving conditions, including sine with dwell and braking through split-μ surface.

Keywords

electric vehicles; motion control; slip; steering systems; vehicle dynamics; 8WID4WIS EV; advanced control allocation method; control allocation scheme; eight in-wheel motored vehicle; eight wheel independent driving-four wheel independent steering electric vehicle; hierarchically coordinated vehicle dynamics control system; high-level vehicle motion controller; in-wheel motors; lower-level slip-slip angle controller; split-μ surface; steer-by-wire system; Control systems; Mathematical model; Resource management; Tires; Vehicle dynamics; Vehicles; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Transportation Electrification Asia-Pacific (ITEC Asia-Pacific), 2014 IEEE Conference and Expo

Conference_Location

Beijing

Print_ISBN

978-1-4799-4240-4

Type

conf

DOI

10.1109/ITEC-AP.2014.6940957

Filename

6940957