Design and simulation of a real-time implementable energy-efficient model-predictive cruise controller for electric vehicles

Abstract

This paper presents the design of a novel energy-efficient model-predictive cruise controller for electric vehicles as well a simulation model of the longitudinal vehicle dynamics and its energy consumption. Both, the controller and the dynamic model are designed to meet the properties of a series-production electric vehicle whose characteristics are identified and verified by measurements. A predictive eco-cruise controller involves the minimisation of a compromise between terms related to driving speed and energy consumption which are in general both described by nonlinear differential equations. Considering the nonlinearities is essential for a proper prediction of the system states over the prediction horizon to achieve the desired energy-saving behaviour. In this work, the vehicle motion equation is reformulated in terms of the kinetic energy of the moving vehicle which leads to a linear differential equation without loss of information. The energy consumption is modeled implicitly by exploiting the special form of the optimisation problem. The reformulations finally lead to a model-predictive control approach with quadratic cost function, linear prediction model and linear constraints that corresponds to a piecewise linear system behaviour and allows a fast real-time implementation with guaranteed convergence. Simulation results of the MPC controller and the simulation model in closed-loop operation finally provide a proof of concept.