An Optimal Wheel Torque Distribution Controller for Automated Vehicle Trajectory Following

Hsu, Ling-Yuan; Chen, Tsung-Lin

doi:10.1109/tvt.2013.2246593

Cited by 33 publications

(18 citation statements)

References 21 publications

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“…By solving equation (38), we can get the range of ε is [ε min , ε max ]. In this paper, the values of t 11 , t 12 , f 11 , f 12 , t 21 , t 22 , f 21 , and f 22 are set to 0.9, 0.1, 0.1, 0.8, 0.9, 0.2, 0.1, and 0.7.…”

Section: Design Of Tracking Stability Coordinated Control Strategy Wimentioning

confidence: 99%

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Coordinated Stability Control Strategy for Intelligent Electric Vehicles Using Vague Set Theory

Zhao

et al. 2020

Mathematical Problems in Engineering

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Aiming at improving the tracking stability performance for intelligent electric vehicles, a novel stability coordinated control strategy based on preview characteristics is proposed in this paper. Firstly, the traditional stability control target is introduced with the two degrees of freedom model, which is realized by the sliding mode control strategy. Secondly, an auxiliary control target further amending the former one with the innovation formulation of the preview characteristics is established. At last, a multiple purpose Vague set leverages the contribution of the traditional target and the auxiliary preview target in various vehicle states. The proposed coordinated control strategy is analyzed on the MATLAB/CarSim simulation platform and verified on an intelligent electric vehicle established with A&D5435 rapid prototyping experiment platform. Simulation and experimental results indicate that the proposed control strategy based on preview characteristics can effectively improve the tracking stability performance of intelligent electric vehicles. In the double lane change simulation, the peak value of sideslip angle, yaw rate, and lateral acceleration of the vehicle is reduced by 13.2%, 11.4%, and 8.9% compared with traditional control strategy. The average deviations between the experimental and simulation results of yaw rate, lateral acceleration, and steering wheel angle are less than 10% at different speeds, which demonstrates the consistency between the experimental and the simulation results.

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Section: Design Of Tracking Stability Coordinated Control Strategy Wimentioning

confidence: 99%

“…As further explored, vehicles are stabilized by combining the trajectory deviation with dynamic characteristics [21,22]. Furthermore, both kinematics and dynamics characteristics are considered as a multilayer controller.…”

Section: Introductionmentioning

confidence: 99%

Coordinated Stability Control Strategy for Intelligent Electric Vehicles Using Vague Set Theory

Zhao

et al. 2020

Mathematical Problems in Engineering

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“…The 4WD and AWD can be either in-Wheel or on-board. A detailed comparison of these, in terms of the efficiency and fail safe operation, are given in [8], [11]- [17]. FWD and RWD are cost effective but their reliability is poor.…”

Section: Introductionmentioning

confidence: 99%

Interrupt-Free Operation of Dual-Motor Four-Wheel Drive Electric Vehicle Under Inverter Failure

Muduli

Beig

Jaafari

et al. 2021

IEEE Trans. Transp. Electrific.

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This paper presents a new open-ended winding induction motor (OEWIM) based dual-motor differential fourwheel drive (D4WD) for the electric vehicle (EV). Constant speed operation through cruise control is achieved using direct torque control (DTC) algorithm. The redundant vectors are used in the switching vector selection of the DTC algorithm to achieve balanced battery currents. Fault-tolerant operation of the drive is demonstrated, where the EV will work with full torque even if one of the inverters in rear motor drive or front motor drive or both fail. The dynamic model of the proposed drive is presented. The proposed drive and fault-tolerant operation (FTO) is verified through simulation as per the FTP-75 driving cycle. An experimental prototype of the proposed drive is developed, and the above algorithms are verified experimentally as per the FTP-75 and HFET driving cycles. Both the simulation as well as the experimental results are presented, and these results agree with the theoretical observations. Stable operation of EV for the entire test cycle under normal operation, as well as inverter fault conditions, is demonstrated.

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“…To maintain good driving performance under partial failure conditions, the Fault-Tolerant Control (FTC) strategies have been widely studied, and several torque distribution control methods are proposed recently. When the fault occurs, these methods take the parameters of yaw rate, additional yaw torque, lateral acceleration, and longitudinal acceleration as inputs, and using direct solving or iterative algorithms for objective functions minimization [2][3][4][5][6][7][8][9], to control torque on all healthy wheels and maintain the body attitude of the car. However, if the power of the faulty wheel being cut off immediately at the moment of failure, strong torque ripples may be generated, which influence the dynamic performance of the torque distribution control in a certain period.…”

Section: Introductionmentioning

confidence: 99%

Fault Tolerant Sensorless Control Strategy With Multi-States Switching Method for In-Wheel Electric Vehicle

Wang

Shao

2021

IEEE Access

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The in-wheel electric vehicle with distributed drive units has better stability and flexibility than traditional centralized drives, but may encounter a higher failure rate due to additional actuators and sensors, especially that the faults of the wheel-side position sensor make motor torque out of control. To overcome this problem, a fault-tolerant control strategy with a multi-states switching method is proposed. The strategy judges the sensor failure by verifying redundant speed information, realizes sensorless control schemes by flux-observer based algorithm in high-speed range and I-F control algorithm in low-speed range with low acoustic noise, and applies adaptive transition process between different control schemes. To pursuit high stability, the signal-to-noise analysis for fault judgment due to sensorless estimation accuracy is discussed. Meanwhile, the principle of I-F resonant oscillations during the transition process is initially deduced in detail, and the conclusion of stability condition is obtained. Finally, the influence of system parameters on resonance performance is analyzed by simulation, and the effectiveness and reliability of the proposed strategy for the risk-controlling process are verified by experiments.

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An Optimal Wheel Torque Distribution Controller for Automated Vehicle Trajectory Following

Cited by 33 publications

References 21 publications

Coordinated Stability Control Strategy for Intelligent Electric Vehicles Using Vague Set Theory

Coordinated Stability Control Strategy for Intelligent Electric Vehicles Using Vague Set Theory

Interrupt-Free Operation of Dual-Motor Four-Wheel Drive Electric Vehicle Under Inverter Failure

Fault Tolerant Sensorless Control Strategy With Multi-States Switching Method for In-Wheel Electric Vehicle

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