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.
Highlights
Greater demands for energy optimization and environmental protection have led to the substantial rapid growth of electric vehicles (EVs) [1]
To assess ® the effectiveness of the proposed scheme,® simulations are conducted in Matlab/Simulink ®with a full-vehicle model constructed by CarSim ®and a controller area network (CAN)-network model from
Steering wheel angle if in the steady phase. These results show that the proposed scheme can reduce the network load by as much as 58% in the steady phase of driving process compared to the controller with the fixed period of 10 ms while ensuring the vehicle system stability
Summary
Greater demands for energy optimization and environmental protection have led to the substantial rapid growth of electric vehicles (EVs) [1]. There are great demands for vehicle drivability [2] and driving safety [3]. With the rapid development of driving motor technologies, the all-wheel-independent-drive electric vehicle (AWID-EV), as an emerging configuration of EVs, has attracted increasing research efforts [4,5,6,7,8,9,10,11,12,13]. The AWID-EV has considerable advantages in terms of energy optimization, drivability and driving safety [6,14,15].
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