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Co-Design Based Lateral Motion Control of All-Wheel-Independent-Drive Electric Vehicles with Network Congestion

Author

Listed:
  • Wanke Cao

    (National Engineering Laboratory for Electric Vehicles and Collaborative Innovation Center of Electric Vehicles in Beijing, Beijing Institute of Technology (BIT), Beijing 100081, China)

  • Helin Liu

    (National Engineering Laboratory for Electric Vehicles and Collaborative Innovation Center of Electric Vehicles in Beijing, Beijing Institute of Technology (BIT), Beijing 100081, China)

  • Cheng Lin

    (National Engineering Laboratory for Electric Vehicles and Collaborative Innovation Center of Electric Vehicles in Beijing, Beijing Institute of Technology (BIT), Beijing 100081, China)

  • Yuhua Chang

    (Department of Multisource Propulsion System, Faculty of Automotive and Construction Machinery Engineering, Warsaw University of Technology (WUT), 02-524 Warsaw, Poland)

  • Zhiyin Liu

    (Department of Multisource Propulsion System, Faculty of Automotive and Construction Machinery Engineering, Warsaw University of Technology (WUT), 02-524 Warsaw, Poland)

  • Antoni Szumanowski

    (Department of Multisource Propulsion System, Faculty of Automotive and Construction Machinery Engineering, Warsaw University of Technology (WUT), 02-524 Warsaw, Poland)

Abstract

All-wheel-independent-drive electric vehicles (AWID-EVs) have considerable advantages in terms of energy optimization, drivability and driving safety due to the remarkable actuation flexibility of electric motors. However, in their current implementations, various real-time data in the vehicle control system are exchanged via a controller area network (CAN), which causes network congestion and network-induced delays. These problems could lead to systemic instability and make the system integration difficult. The goal of this paper is to provide a design methodology that can cope with all these challenges for the lateral motion control of AWID-EVs. Firstly, a continuous-time model of an AWID-EV is derived. Then an expression for determining upper and lower bounds on the delays caused by CAN is presented and with which a discrete-time model of the closed-loop CAN system is derived. An expression on the bandwidth utilization is introduced as well. Thirdly, a co-design based scheme combining a period-dependent linear quadratic regulator (LQR) and a dynamic period scheduler is designed for the resulting model and the stability criterion is also derived. The results of simulations and hard-in-loop (HIL) experiments show that the proposed methodology can effectively guarantee the stability of the vehicle lateral motion control while obviously declining the network congestion.

Suggested Citation

  • Wanke Cao & Helin Liu & Cheng Lin & Yuhua Chang & Zhiyin Liu & Antoni Szumanowski, 2017. "Co-Design Based Lateral Motion Control of All-Wheel-Independent-Drive Electric Vehicles with Network Congestion," Energies, MDPI, vol. 10(10), pages 1-16, October.
    • Handle: RePEc:gam:jeners:v:10:y:2017:i:10:p:1641-:d:115454
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    References listed on IDEAS

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    1. Jinhyun Park & Houn Jeong & In Gyu Jang & Sung-Ho Hwang, 2015. "Torque Distribution Algorithm for an Independently Driven Electric Vehicle Using a Fuzzy Control Method," Energies, MDPI, vol. 8(8), pages 1-25, August.
    2. Hongwen He & Jiankun Peng & Rui Xiong & Hao Fan, 2014. "An Acceleration Slip Regulation Strategy for Four-Wheel Drive Electric Vehicles Based on Sliding Mode Control," Energies, MDPI, vol. 7(6), pages 1-16, June.
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    Cited by:

    1. Lin Zhao & Shaobo Lu & Bohan Zhang, 2019. "Game-Based Hierarchical Cooperative Control for Electric Vehicle Lateral Stability via Active Four-Wheel Steering and Direct Yaw-Moment Control," Energies, MDPI, vol. 12(17), pages 1-21, August.
    2. Jinhong Sun & Xiangdang Xue & Ka Wai Eric Cheng, 2019. "Fuzzy Sliding Mode Wheel Slip Ratio Control for Smart Vehicle Anti-Lock Braking System," Energies, MDPI, vol. 12(13), pages 1-22, June.
    3. Wanke Cao & Helin Liu & Cheng Lin & Yuhua Chang & Zhiyin Liu & Antoni Szumanowski, 2017. "Speed Synchronization Control of Integrated Motor–Transmission Powertrain over CAN through Active Period-Scheduling Approach," Energies, MDPI, vol. 10(11), pages 1-17, November.

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