Lateral motion control for four-wheel-independent-drive electric vehicles using optimal torque allocation and dynamic message priority scheduling
Lateral motion control for four-wheel-independent-drive electric vehicles using optimal torque allocation and dynamic message priority scheduling
复制标题
采用最优扭矩分配和动态消息优先级调度的四轮独立驱动电动汽车横向运动控制
DOI：
10.1016/j.conengprac.2013.11.012
复制
发表时间：
2014-03-01
影响因子：
4.9
通讯作者：
Ouyang, Minggao
中科院分区：
文献类型：
--
作者：
Shuai, Zhibin;Zhang, Hui;Ouyang, Minggao
研究了采用主动前转向(AFS)和直接横摆力矩控制(DYC)相结合的四轮独立驱动电动汽车(4WID-EVS)的车载网络横向运动控制。作为一种典型的过驱动系统，4WID-EV需要一个控制分配算法来实现广义控制。本文提出了一种基于二次规划(QP)的扭矩分配算法，其优点是均匀合理地利用了每个车轮的轮胎-路面摩擦力。众所周知，车载网络和x-by-wire技术与传统的点对点通信相比具有相当大的优势，并为4WID-EVS等复杂的控制系统带来了巨大的优势。然而，也存在带宽限制，这将导致车载网络通信中的消息时延和控制性能的降低。基于动态消息优先级调度的思想，提出了一种有效利用有限的网络带宽资源，减弱车载网络时延的不利影响的机制。高保真车辆模型的仿真结果表明，采用扭矩分配算法和消息动态优先调度过程的控制结构能有效改善车辆横向运动控制性能，并显著降低车载网络消息时延对模拟机动的不利影响。(C)2013爱思唯尔有限公司。保留所有权利。
In this paper, the vehicle lateral motion control of four-wheel-independent-drive electric vehicles (4WID-EVs) with combined active front steering (AFS) and direct yaw moment control (DYC) through in-vehicle networks is studied. As a typical over-actuated system, a 4WID-EV requires a control allocation algorithm to achieve the generalized control efforts. In this paper, a quadratic programming (QP) based torque allocation algorithm is proposed with the advantage of equally and reasonably utilizing the tire-road friction of each wheel. It is also well known that the in-vehicle network and x-by-wire technologies have considerable advantages over the traditional point-to-point communications, and bring great strengths to complex control systems such as 4WID-EVs. However, there are also bandwidth limitations which would lead to message time-delays in in-vehicle network communications and degradation of control performance. The paper also proposes a mechanism to effectively utilize the limited network bandwidth resources and attenuate the adverse impact of in-vehicle network-induced time-delays, based on the idea of dynamic message priority scheduling. Simulation results from a high-fidelity vehicle model show that the proposed control architecture with the torque allocation algorithm and message dynamic-priority scheduling procedure can effectively improve the vehicle lateral motion control performance, and significantly reduce the adverse impact of the in-vehicle network message time-delays in the simulated maneuvers. (C) 2013 Elsevier Ltd. All rights reserved.