Torque blending and wheel slip control in EVs with in-wheel motors

Castro, Ricardo de; Araújo, Rui Esteves; Tanelli, Mara; Savaresi, Sergio M.; Freitas, Diamantino

doi:10.1080/00423114.2012.666357

Cited by 99 publications

(62 citation statements)

References 33 publications

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“…the torque blending. Towards that goal, we will follow here a methodology similar to the one resented in [2]. More specifically, each wheel of the vehicle has its…”

Section: A Overview Of the Control Systemmentioning

confidence: 99%

“…The second equation (2) is related with the translational speed of the car, where is the mass of the quarter vehicle, contains aero, dragging and other losses in the car. The tire slip according to (4) will be the controlled variable for the wheel slip controller.…”

Section: B Control-oriented Modelingmentioning

confidence: 99%

“…Therefore, from an energy-consumption standpoint, it is preferable to maximize the usage of the motor torque during braking. Moreover, due to the fast and precise response of the traction motor, this electric actuator can also be used to improve the bandwidth of the wheel torque and wheel slip control [2]. From a control point of view, the braking system of an EV can also be regarded as an over-actuated system.…”

Section: Introductionmentioning

confidence: 99%

“…The main idea is to add a dynamic penalty in the cost function -to be optimized -and adapt the inequality constraints when the actuator rate limits occur. Reference [2] applies this approach to the torque blending problem, i.e. the split of braking torque among the friction brake and the electric motor.…”

Section: Introductionmentioning

confidence: 99%

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A model predictive control allocation approach to hybrid braking of electric vehicles

Satzger

Castro

Bünte

2014

2014 IEEE Intelligent Vehicles Symposium Proceedings

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With the recent emergence of electric drivetrains, a faster and energy efficient braking actuator the electric motor has become available to complement the operation of the traditional friction brakes. The decision on how to split the braking torque among the friction brake and the electric motor is one of the main issues of such hybrid braking systems. With this challenge in mind, a new model predictive control allocation (MPCA) approach for hybrid braking is proposed. In comparison to state of the art torque blending solutions (daisy chain and dynamic control allocation) the MPCA offers faster transient response, without compromising the energy recuperation efficiency of the actuators. In addition, we also develop a linear wheel slip controller to regulate the braking force during emergency braking maneuvers. The tuning of this wheel slip controller is carried out using robust pole placement techniques, which ensures good operation in spite of uncertainties in the tire-road friction coefficient and the vertical load. Simulation results demonstrate the effectiveness of the proposed method.

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“…the torque blending. Towards that goal, we will follow here a methodology similar to the one resented in [2]. More specifically, each wheel of the vehicle has its…”

Section: A Overview Of the Control Systemmentioning

confidence: 99%

Section: B Control-oriented Modelingmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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A model predictive control allocation approach to hybrid braking of electric vehicles

Satzger

Castro

Bünte

2014

2014 IEEE Intelligent Vehicles Symposium Proceedings

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“…A novel control scheme by coordinating the slips of the two wheels on the same side simultaneously was proposed in [9]. Research in [10] proposed a robust adaptive wheel 2 Mathematical Problems in Engineering slip controller and a wheel torque allocator to distribute the braking effort among the two actuators. An integrated slipbased torque control strategy for regenerative braking and hydraulic antilock braking system was developed according to the logic threshold concept in [11].…”

Section: Introductionmentioning

confidence: 99%

Slip Control of Electric Vehicle Based on Tire‐Road Friction Coefficient Estimation

Cui

Dou

et al. 2017

Mathematical Problems in Engineering

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The real-time change of tire-road friction coefficient is one of the important factors that influence vehicle safety performance. Besides, the vehicle wheels' locking up has become an important issue. In order to solve these problems, this paper comes up with a novel slip control of electric vehicle (EV) based on tire-road friction coefficient estimation. First and foremost, a novel method is proposed to estimate the tire-road friction coefficient, and then the reference slip ratio is determined based on the estimation results. Finally, with the reference slip ratio, a slip control based on model predictive control (MPC) is designed to prevent the vehicle wheels from locking up. In this regard, the proposed controller guarantees the optimal braking torque on each wheel by individually controlling the slip ratio of each tire within the stable zone. Theoretical analyses and simulation show that the proposed controller is effective for better braking performance.

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A Novel Bilevel Electromechanical Compound Braking Coordinated Control Strategy for Electric Vehicles

Zhao,

Li,

Yang

et al. 2024

Energy Tech

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Due to the difference of response time and braking type between the motor and the pneumatic braking system, it is still difficult to coordinate the motor braking and the pneumatic braking to ensure the vehicle stability and maximal energy regeneration. To address this challenge, a bilevel electromechanical compound braking coordinated control strategy for electric vehicles is proposed considering general and emergency braking state. First, in general braking state, considering the delay characteristics of the pneumatic braking system, a Lagrange quadratic interpolation prediction algorithm is designed to start the pneumatic braking system in advance. Second, in emergency braking state, a model predictive control method is proposed to optimize the braking torque distribution while controlling the wheel slip ratio in a stable range. In order to obtain the optimal control effect, a modified adaptive cuckoo search algorithm is put forward, in which three adaptive impact factors are added. Finally, the proposed control strategy is verified under three road conditions and compared with the conventional control strategy. The results demonstrate significant improvements under gravel road condition, including a 7% increase in energy recovery efficiency, a 92.1% enhancement in the following effect of pneumatic braking torque, and a 43.5% reduction in wheel fluctuation.

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Torque blending and wheel slip control in EVs with in-wheel motors

Cited by 99 publications

References 33 publications

A model predictive control allocation approach to hybrid braking of electric vehicles

A model predictive control allocation approach to hybrid braking of electric vehicles

Slip Control of Electric Vehicle Based on Tire‐Road Friction Coefficient Estimation

A Novel Bilevel Electromechanical Compound Braking Coordinated Control Strategy for Electric Vehicles

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