Abstract
This paper presents a collaborative control system for an electric vehicle chassis based on a centralized and hierarchical control architecture. The centralized controller was designed for the suspension and steering system, which is used for improving ride comfort and handling stability; the hierarchical controller was designed for the braking system, which is used for distributing the proportion of hydraulic braking and regenerative braking to improve braking performance. These two sub-controllers function at the same level of the vehicle chassis control system. In order to reduce the potential conflict between the two sub-controllers and realize a coordination optimization of electric vehicle performance, a collaborative controller was built, which serves as the upper controller to carry out an overall coordination analysis according to vehicle signals and revises the decisions of sub-controllers. A simulation experiment was carried out with the MATLAB/Simulink software. The simulation results show that the proposed collaborative control system can achieve an optimized vehicle handling stability and braking safety.
Highlights
To improve vehicle performance further, more and more active control systems such as the anti-lock braking system (ABS), active suspension system (ASS) and electric power steering (EPS), have been developed and many of them have been commercially utilized for nearly three decades [1,2,3]
A coupling of electric vehicle subsystems is provided for cornering regenerative braking conditions, ASS, EPS and electro-hydraulic braking systems are taken as the research object, and a collaborative control system which contains both centralized and hierarchical architecture is designed and the corresponding collaborative control strategy of an electric vehicle chassis system is established, which includes a centralized controller for the suspension and steering system based on Linear-Quadratic Gaussian (LQG) theory and a hierarchical controller for the braking system
For the chassis system control, the centralized controllers are established for the subsystems which have close relationship and high coupling effect according to their own dynamics in order to enhance the degree of integration, the hierarchical controllers are established for such subsystems that have exact coupling relationships and are difficult to control in a centralized way
Summary
To improve vehicle performance further, more and more active control systems such as the anti-lock braking system (ABS), active suspension system (ASS) and electric power steering (EPS), have been developed and many of them have been commercially utilized for nearly three decades [1,2,3]. Hierarchical control is somewhere between decentralized and centralized control in both integration degree and reliability; an upper controller is added to this control architecture based on retaining the original sub-controllers, hierarchical control is mainly applied in the coordination of multiple subsystems at present, its control function is still limited. A coupling of electric vehicle subsystems is provided for cornering regenerative braking conditions, ASS, EPS and electro-hydraulic braking systems are taken as the research object, and a collaborative control system which contains both centralized and hierarchical architecture is designed and the corresponding collaborative control strategy of an electric vehicle chassis system is established, which includes a centralized controller for the suspension and steering system based on Linear-Quadratic Gaussian (LQG) theory and a hierarchical controller for the braking system. The simulation results showed that the designed collaborative control strategy could provide a trade-off control among subsystems and improve the overall performance of electric vehicle further
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