Trajectory Tracking Coordinated Control of 4WID-4WIS Electric Vehicle Considering Energy Consumption Economy Based on Pose Sensors

Abstract

In order to improve the stability and economy of 4WID-4WIS (four-wheel independent drive—four-wheel independent steering) electric vehicles in trajectory tracking, this paper proposes a trajectory tracking coordinated control strategy considering energy consumption economy. First, a hierarchical chassis coordinated control architecture is designed, which includes target planning layer, and coordinated control layer. Then, the trajectory tracking control is decoupled based on the decentralized control structure. Expert PID and Model Predictive Control (MPC) are employed to realize longitudinal velocity tracking and lateral path tracking, respectively, which calculate generalized forces and moments. In addition, with the objective of optimal overall efficiency, the optimal torque distribution for each wheel is achieved using the Mutant Particle Swarm Optimization (MPSO) algorithm. Additionally, the modified Ackermann theory is used to distribute wheel angles. Finally, the control strategy is simulated and verified using Simulink. Comparing the control results of the average distribution strategy and the wheel load distribution strategy, it can be concluded that the proposed coordinated control not only provides good trajectory tracking but also greatly improves the overall efficiency of the motor operating points, which enhances the energy economy and realizes the multi-objective coordinated control of the chassis.

Coordinated Control for the Trajectory Tracking of Four-Wheel Independent Drive–Four-Wheel Independent Steering Electric Vehicles Based on the Extension Dynamic Stability Domain

“…In this study, based on expert system theory, the expert PID is employed for longitudinal velocity tracking. The specific algorithm flow can be found in [30]. The calculation formula for longitudinal acceleration is as follows: The optimal distribution layer designs torque distribution and corner distribution strategies, converting the expected subsystem actions into control commands for actuators.…”

“…In this study, based on expert system theory, the expert PID is employed for longitudinal velocity tracking. The specific algorithm flow can be found in [30]. The calculation formula for longitudinal acceleration is as follows:…”

“…Figure 9 illustrates the process of torque distribution control, where different torque distribution strategies are designed based on the extension dynamic phase portrait. Building upon the literature [30], the MPSO algorithm combines the traditional PSO algorithm [33] with the mutation concept from genetic algorithms. This incorporation of mutation during the update of population positions enables the algorithm to escape locally optimal solutions, increasing the chances of finding a global optimum and reducing the likelihood of premature convergence.…”

Fuzzy-PID-based trajectory tracking for 3WIS robot

“…Author presents a relatively high precision trajectory tracking method, but it is not appropriate to adopt 4WIS robots in agriculture. A method using a hierarchical chassis coordinated control architecture and modified Ackermann theory for wheel angle allocation is proposed to address the issue of low motor efficiency in the 4WIS robot [6], but only stopped in the theoretical research phase, no physical tests. However, it also comes at a higher cost since it requires eight motors and in practical work, there is often uneven force distribution among the four wheels, which can lead to the robot slipping.…”

Robust Shared Control for Four-Wheel Steering Considering Driving Comfort and Vehicle Stability

“…Furthermore, the mixed H 2 /H ∞ optimal control strategy was adopted into the 4WS system to improve handling stability performance in [28]. To balance energy saving and vehicle stability, the hierarchical chassis coordinated control strategy was proposed in [29]. The expert PID and model predictive control (MPC) were integrated to achieve the speed tracking and path tracking in the upper-level.…”