A control allocation algorithm based on pseudo-inverse method was proposed for the over-actuated system of four in-wheel motors independently driving and four-wheel steering-by-wire electric vehicles in order to impro...A control allocation algorithm based on pseudo-inverse method was proposed for the over-actuated system of four in-wheel motors independently driving and four-wheel steering-by-wire electric vehicles in order to improve the vehicle stability. The control algorithm was developed using a two-degree-of-freedom(DOF) vehicle model. A pseudo control vector was calculated by a sliding mode controller to minimize the difference between the desired and actual vehicle motions. A pseudo-inverse controller then allocated the control inputs which included driving torques and steering angles of the four wheels according to the pseudo control vector. If one or more actuators were saturated or in a failure state, the control inputs are re-allocated by the algorithm. The algorithm was evaluated in Matlab/Simulink by using an 8-DOF nonlinear vehicle model. Simulations of sinusoidal input maneuver and double lane change maneuver were executed and the results were compared with those for a sliding mode control. The simulation results show that the vehicle controlled by the control allocation algorithm has better stability and trajectory-tracking performance than the vehicle controlled by the sliding mode control. The vehicle controlled by the control allocation algorithm still has good handling and stability when one or more actuators are saturated or in a failure situation.展开更多
Safety-critical applications such as the independently driving systems of electric vehicle （EV） require a high degree of reliability. The controller area network （CAN） is used extensively in the control sectors. A...Safety-critical applications such as the independently driving systems of electric vehicle （EV） require a high degree of reliability. The controller area network （CAN） is used extensively in the control sectors. A new real-time and reliable scheduling algorithm based on time-triggered scheduler with a focus on the CAN-based distributed control systems for independently driving EV is exploited. A distributed control network model for a dual-wheel independendy driving EV is established. The timing and reliabili- ty analysis in the worst case with the algorithm is used to evaluate the predictability and dependability and the simulation based on the algorithm with CANoe software is designed. The results indicate the algorithm is more predicable and dependable.展开更多
基金Project(51175015)supported by the National Natural Science Foundation of ChinaProject(2012AA110904)supported by the National High Technology Research and Development Program of China
文摘A control allocation algorithm based on pseudo-inverse method was proposed for the over-actuated system of four in-wheel motors independently driving and four-wheel steering-by-wire electric vehicles in order to improve the vehicle stability. The control algorithm was developed using a two-degree-of-freedom(DOF) vehicle model. A pseudo control vector was calculated by a sliding mode controller to minimize the difference between the desired and actual vehicle motions. A pseudo-inverse controller then allocated the control inputs which included driving torques and steering angles of the four wheels according to the pseudo control vector. If one or more actuators were saturated or in a failure state, the control inputs are re-allocated by the algorithm. The algorithm was evaluated in Matlab/Simulink by using an 8-DOF nonlinear vehicle model. Simulations of sinusoidal input maneuver and double lane change maneuver were executed and the results were compared with those for a sliding mode control. The simulation results show that the vehicle controlled by the control allocation algorithm has better stability and trajectory-tracking performance than the vehicle controlled by the sliding mode control. The vehicle controlled by the control allocation algorithm still has good handling and stability when one or more actuators are saturated or in a failure situation.
基金Supported by the National High Technology Research and Development Programme of China （No. （2008AA11 A146 ）, China Postdoctoral Science Foundation （20090450298）.
文摘Safety-critical applications such as the independently driving systems of electric vehicle （EV） require a high degree of reliability. The controller area network （CAN） is used extensively in the control sectors. A new real-time and reliable scheduling algorithm based on time-triggered scheduler with a focus on the CAN-based distributed control systems for independently driving EV is exploited. A distributed control network model for a dual-wheel independendy driving EV is established. The timing and reliabili- ty analysis in the worst case with the algorithm is used to evaluate the predictability and dependability and the simulation based on the algorithm with CANoe software is designed. The results indicate the algorithm is more predicable and dependable.
