A global optimization algorithm for energy-efficient control allocation of over-actuated systems

Chen, Yan; Wang, Junmin

doi:10.1109/acc.2011.5990899

Cited by 5 publications

References 26 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

Real-Time Nonlinear Control Allocation Framework for Vehicles with Highly Nonlinear Effectors Subject to Saturation

Mancinelli

Remes

Croon

et al. 2023

J Intell Robot Syst

View full text Add to dashboard Cite

Hybrid Unmanned Aerial Vehicles UAV are vehicles capable of take-off and landing vertically like helicopters while maintaining the long-range efficiency of fixed-wing aircraft. Unfortunately, due to their wing area, these vehicles are sensitive to wind gusts when hovering. One way to increase the hovering wind-rejection capabilities of hybrid UAV is through the addition of extra actuators capable of directing the thrust of the rotors. Nevertheless, the ability to control UAVs with many actuators is strictly related to how well the Control Allocation problem is solved. Generally, to reduce the problem complexity, conventional (CA) methods make use of linearized control effectiveness in order to optimize the inputs that achieve a certain control objective. We show that this simplification can lead to oscillations if it is applied to thrust vectoring vehicles, with pronounced non-linear actuator effectiveness. When large control objectives are requested or actuators saturate, the linearized effectiveness based CA methods tend to compute a solution far away from the initial actuator state, invalidating the linearization. A potential solution could be to impose limits on the solution domain of the linearized CA algorithm. However, this solution only reduces the oscillations at the expense of a lag in the vehicle acceleration response. To overcome this limitation, we present a fully nonlinear CA method, which uses an Sequential Quadratic Programming (SQP) algorithm to solve the CA problem. The method is tested and implemented on a single board computer that computes the actuator solution in real time onboard a dual axis tilting rotor quad-plane. Flight test experiments confirm the problem of severe oscillations in the linearized effectiveness CA algorithms and show how the only algorithm able to optimally solve the CA problem is the presented Nonlinear method.

show abstract

Real-Time Nonlinear Control Allocation Framework for Vehicles with Highly Nonlinear Effectors Subject to Saturation

Mancinelli

Remes

Croon

et al. 2023

J Intell Robot Syst

View full text Add to dashboard Cite

show abstract

Review on torque distribution strategies for four in-wheel motor drive electric vehicles

Deng

et al. 2018

IOP Conf. Ser.: Mater. Sci. Eng.

View full text Add to dashboard Cite

Abstract. Electric vehicle (EV) with four independent in-wheel motor is over-actuated systems. The wheel torque distribution can be realized through a large number of methods to satisfy the economic and safety demands. This paper aims at providing a review of the economic-based torque distribution strategies, safety-based torque distribution strategies and coordination control of torque distribution strategies based on both safety and economy. This paper not only provides a comprehensive analysis of torque distribution strategies for in-wheel-motor EVs but also puts forward the future and emphasis of future study, which will promote the development of torque distribution strategy with safety and economy for in-wheel-motor drive EVs. IntroductionRecently, as a new energy and environment-friendly vehicle, the in-wheel motor drive electric vehicle (EV) has been rapidly developed thanks to its high efficiency, non-pollution, low noise and so on. Differing from the traditional driving manner, the in-wheel motor drives the wheel directly. Thus, the in-wheel motor drive EV has unique advantages, such as simple and compact structure, high energyefficiency, and independent control of the torque [1]. Studying the torque distribution of the drive system is of great significance to the research of four in-wheel motor drive (4IWMD) EV.For the 4IWMD EV, each driving wheel adopts a driving motor as the driving source. And, there is no direct restriction between the mechanical parts between the power sources. The coordinated operation between the driving wheels must be ensured in the control strategy and control method. The torque coordinated control technique is how to control the torque of each driving wheel in order to achieve the goal of stable and safe driving. The wheel torque distribution mainly depends on the working position of each wheel motor under the same torque demand. And, the efficiency of motor and motor controller will be different under different torque demand. The wheel torque distribution also affects the steering characteristics of the vehicle, including the indirect influence of the wheel torque distribution and the direct influence of the left and right wheel torque distribution. The method of moment distribution has an influence on the economy and operation stability of the vehicle, so it is necessary to study both energy saving and safe wheel torque distribution to improve the vehicle's comprehensive performance [2].A large number of literature studied on torque distribution of in-wheel-motored EVs have appeared, the existing articles emphasize on discussing the torque distribution strategy. However, there is no review about torque distribution used in EVs. This study intends to fill this gap. In addition, torque

show abstract

A review of drive torque distribution control for distributed drive electric vehicles

Zhao,

Fan,

Huang

et al. 2024

Proceedings of the Institution of Mechanical Engineers, Part D:

View full text Add to dashboard Cite

Distributed drive electric vehicles have the advantages of the ability to drive each wheel independently, the possibility of braking energy recovery, and a variety of steering modes, which has a major impact on enhancing the operational stability and energetic performance of the vehicle. The torque distribution control of distributed drive electric vehicles provides more rapid and precise elements for the drive anti-skid system and brake anti-lock braking system. However, it still faces theoretical and technical challenges in the torque distribution process for distributed drive electric vehicles due to the characteristics of over-constraints and strongly coupled nonlinearities of the vehicle’s dynamical state. Due to these dimensions, this paper reviews the latest research progress on driving torque distribution control strategy for distributed-drive electric vehicles, from aspects such as the vehicle stability control, energetic performance control, vehicle road-tracking control, combined vehicle safety and energy efficiency control strategy. The torque distribution control strategy of vehicle under different operating conditions is the focus of the analysis in this research paper, providing a foundation for future researchers. Finally, the development of torque distribution is discussed from different perspectives respectively, aiming to promote the development of high-performance torque distribution controllers.

show abstract

A global optimization algorithm for energy-efficient control allocation of over-actuated systems

Cited by 5 publications

References 26 publications

Real-Time Nonlinear Control Allocation Framework for Vehicles with Highly Nonlinear Effectors Subject to Saturation

Real-Time Nonlinear Control Allocation Framework for Vehicles with Highly Nonlinear Effectors Subject to Saturation

Review on torque distribution strategies for four in-wheel motor drive electric vehicles

A review of drive torque distribution control for distributed drive electric vehicles

Contact Info

Product

Resources

About