Abstract
This paper deals with longitudinal motion control of electric vehicles (EVs) driven by in-wheel-motors (IWMs). It shows that the IWM-EV is fundamentally a multi-agent system with physical interaction. Three ways to model the IWM-EV are proposed, and each is applicable to certain control objectives. Firstly, a nonlinear model with hierarchical structure is established, and it can be used for passivity-based motion control. Secondly, a linearized model with rank-1 interconnection matrix is presented for stability analysis. Thirdly, a time-varying state-space model is proposed for optimal control using linear quadratic regulator (LQR). The proposed modellings contribute the new understanding of IWM-EV dynamics from the view point of multi-agent-system theory. By choosing the suitable control theory for each model, the complexity level of system design is maintained constant, no matter what the number of IWMs installed to the vehicle body. The effectiveness of three models and their design approaches are discussed by several examples with Matlab/Carsim co-simulator.
Highlights
In-wheel-motors (IWMs) have been shown a novel actuator for motion control system of electric vehicles (EVs) [1]
Motion control of electric vehicle can be categorized by several sub-fields as follows: (i) Lateral motion control: By differentiating the torques distributed to the left-side and right-side wheels, a yaw-moment is generated about the vertical axis of the vehicle body
We recently developed a scheme in the glocal theory family, namely, hierarchical linear quadratic regulator (H-LQR), and applied it to optimal control of slip ratio for IWM-EVs in the acceleration mode [17]
Summary
In-wheel-motors (IWMs) have been shown a novel actuator for motion control system of electric vehicles (EVs) [1]. A remarkable merit of IWM-EV is the ability to precisely generate the driving/braking torques with fast response at individual wheels Based on this merit, various motion control strategies have been developed in three dimensions. (i) Lateral motion control: By differentiating the torques distributed to the left-side and right-side wheels, a yaw-moment is generated about the vertical axis of the vehicle body. (ii) Roll motion control: By allocating the motor torques suitably, it is possible to generate the roll moment about the longitudinal axis This moment can be used to control the roll angle and roll rate for improving the comfort of the driver [6]. (iii) Pitch motion control: By distributing the different torques to the front-wheels and rear-wheels, a pitch moment is generated about the lateral axis. (II) anti-slip control [18,19,20,21,22], and (III) driving force control [23,24,25,26]
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