Model predictive control based on time-varying efficiency for hydraulic hub-motor driving vehicle

Abstract

A model predictive feedback control strategy based on time-varying efficiency is investigated and applied to a hydraulic hub-motor auxiliary system (HHMAS) in this paper. Adding HHMAS to a traditional heavy commercial vehicle can improve fuel economy and traction performance on roads with low adhesion coefficients. However, the hydraulic drive system experiences serious disturbance imposed by time-varying parameters and external conditions. Model predictive feedback control based on time-varying efficiency offers a solution for HHMAS to cope with the disadvantage of the hydraulic drive system and improve the environmental adaptability of the vehicle controller. In this study, the control law of hydraulic variable pump (HVP) target displacement is established based on temperature compensation in consideration of the influence of multiple factors on pump target displacement. For coordinated power distribution of HHMAS, the minimum wheel speed difference and the reduction in system impact are regarded as optimal control targets in adjusting the engine torque and HVP displacement and designing the model predictive controller. Simulation results show that the proposed model predictive control method can reduce the speed difference between front and rear wheels by up to 64% and can achieve the wheel speed following effect faster than the traditional proportional-integral-derivative algorithm. Given that the control parameters do not need to be calibrated in the proposed method, the calibration time is saved, and the actual development process of the hydraulic hub-motor driving vehicle is remarkably improved.

An Energy-Efficient Adaptive Speed-Regulating Method for Pump-Controlled Motor Hydrostatic Drive Powertrains

“…The volumetric efficiency and mechanical efficiency of the pump or motor shows a nonlinear relationship with system pressure, speed, and the displacement ratio [27,28]. In order to improve the accuracy of speed control and power estimation while ensuring the implementation of the system, we conducted real-time online estimation of the efficiencies of the system based on the system feedback signals and the pump/motor loss model.…”

Trajectory Tracking Control of a Skid-Steer Mobile Robot Based on Nonlinear Model Predictive Control with a Hydraulic Motor Velocity Mapping

“…These controllers typically employ kinematic models and adopt the desired velocity as the control output [18,24], which is then sent to the motors for execution. However, for the heavy-duty mobile robots driven by hydraulic systems studied in this research, controlling them is much more complex compared to electric motor-driven systems [25]. This increased difficulty stems from the fundamental nonlinearity of fluid dynamics, compounded by issues such as fluid leakage and friction [26].…”