This paper proposes to adopt SCADA and PLC technology for the improvement of the performance of real time signaling&train control systems in metro railways.The main concern of this paper is to minimize the failure...This paper proposes to adopt SCADA and PLC technology for the improvement of the performance of real time signaling&train control systems in metro railways.The main concern of this paper is to minimize the failure in automated metro railways system operator and integrate the information coming from Operational Control Centre(OCC),traction SCADA system,traction power control,and power supply system.This work presents a simulated prototype of an automated metro train system operator that uses PLC and SCADA for the real time monitoring and control of the metro railway systems.Here,SCADA is used for the visualization of an automated process operation and then the whole opera-tion is regulated with the help of PLC.The PLC used in this process is OMRON(NX1P2-9024DT1)and OMRON’s Sysmac studio programming software is used for developing the ladder logic of PLC.The metro railways system has deployed infrastructure based on SCADA from the power supply system,and each station’s traction power control is connected to the OCC remotely which commands all of the stations and has the highest command priority.An alarm is triggered in the event of an emergency or system congestion.This proposed system overcomes the drawbacks of the current centralized automatic train control(CATC)system.This system provides prominent benefits like augmenting services which may enhance a network’s full load capacity and networkflexibility,which help in easy modification in the existing program at any time.展开更多
As science and technology continue to progress forward,electrical automation engineering is also developing,of which programmable logic controller(PLC)technology is widely being used.Through the integration of PLC tec...As science and technology continue to progress forward,electrical automation engineering is also developing,of which programmable logic controller(PLC)technology is widely being used.Through the integration of PLC technology and traditional electrical automation technology,good development of modern science and technology is promoted while traditional automation is preserved.The development of electrical engineering can greatly improve the strength of science,technology,and economy in our country.Based on PLC technology,this paper analyzes the design of electrical automation control.展开更多
The control method of rubber tyre gantry (RTG) spreader in Qingdao Port Container Terminal is logic board control,which has many shortcomings such as expensive spare parts and high faults.This paper designs a new co...The control method of rubber tyre gantry (RTG) spreader in Qingdao Port Container Terminal is logic board control,which has many shortcomings such as expensive spare parts and high faults.This paper designs a new control system using programmable logic controller (PLC) centralized control to replace the original logic board control.The new system mainly contains complete ELME spreader control scheme design,hardware selection and PLC control program development.Its field application shows that the system has characteristics of high efficiency,low running cost,easy maintenance.展开更多
Fiber winding tension is an important factor in the molding techniques of composite material which influences the quality of winding product directly, and the tension control is a key technique in fiber winding techni...Fiber winding tension is an important factor in the molding techniques of composite material which influences the quality of winding product directly, and the tension control is a key technique in fiber winding techniques. This paper introduces a closed-loop tension control system with the programmable logic controller (PLC) with function modules as its control kernel, the alternating current (AC) servo motor as execute element and the radius-following device to accomplish the real-time radius compensation. The mechanism of the tension control system is analyzed and the numerical model is set up. The compensation technique of the radius of the scroll is analyzed. Experimental results show that the system is well qualified with high control precision and high reaction speed.展开更多
In the field of industrial process control,a fast-development platform for programmable logic controller(PLC)systems is designed in order to solve two main problems of rapid development of PLC control system and progr...In the field of industrial process control,a fast-development platform for programmable logic controller(PLC)systems is designed in order to solve two main problems of rapid development of PLC control system and programmability of controlling software.In the aspect of design,the platform is composed of hardware controlling and software monitoring and is taking industrial computer as the core.Under the Windows environment,the platform establishes the control instruction set,develops the configuration function and visual programming function of the monitoring software and it integrates PLC controller based on Visual Basic software.In order to achieve the function of data monitoring,it has realized the serial communication between computer and PLC by using RS-485 and RS-232 serial ports line communication.The platform designs the intelligent instruction scheduling strategy by studying the encoding and decoding rules of the communication instruction set.It proposes a method for rapidly developing control programs by adopting the expert control mode,which enables clients to develop and modify programs conveniently by importing instructions in a non-coded manner.After experimental testing,the platform is proved successful achieving both the rapid development of PLC control system and the rapid modification of monitoring software.展开更多
Due to the well condition and the un-expected imbalance movement of the pumping unit in use, the energy consumes a lot. The existing balancing equipment cannot adjust and monitor the pumping units in real time. Theref...Due to the well condition and the un-expected imbalance movement of the pumping unit in use, the energy consumes a lot. The existing balancing equipment cannot adjust and monitor the pumping units in real time. Therefore this paper introduces the new adaptive balancing equipment—fan-shaped adaptive balancing intelligent device, projects a design of such control system based on PLC, and determines the principle of the control system, the execution software and the design flow. Site commissioning effect on Daqing Oilfield shows this fan-shaped adaptive balancing intelligent device can effectively adjust and monitor the pumping unit in real time, the balance even adjusts from 0.787 to 0.901, and integrated energy saving rate is 14.2%. It is approved that this control device is professionally designed, with strong compatibility, and high reliability.展开更多
Programmable Logic Controllers(PLC),core of industrial control systems,is widely used in industrial control systems.The security of PLC is the key to the security of industrial control systems.Nowadays,a large number ...Programmable Logic Controllers(PLC),core of industrial control systems,is widely used in industrial control systems.The security of PLC is the key to the security of industrial control systems.Nowadays,a large number of industrial control systems are connected to the Internet which exposes the PLC equipment to the Internet,and thus raising security concerns.First of all,we introduce the basic principle of PLC in this paper.Then we analyze the PLC code security,firmware security,network security,virus vulnerability and Modbus communication protocol by reviewing the previous related work.Finally,we make a summary of the current security protection methods.展开更多
The principle and working process of Vacuum Resin Shot Dosing Equipment(VRSDE) are analyzed and the characteristics of IP1612-220PLC (Programmable Logical Controller) areintroduced briefly at first. Then the authors d...The principle and working process of Vacuum Resin Shot Dosing Equipment(VRSDE) are analyzed and the characteristics of IP1612-220PLC (Programmable Logical Controller) areintroduced briefly at first. Then the authors discuss the flow of program, the assignment of PLCI/O ports, the wiring diagram, and the ladder logic program of the PLC control system of VRSDE indetail. Some application issues of the system are accounted for in addition. Finally, according tothe information acquired from users, the authors draw the conclusion: this system owns a highreliability and a-vailability and greatly improves the automatic degree of VRDE.展开更多
Aiming at realizing monitoring of tyre bladder vulcanizer operating process, a master-slave control system was composed of configuration software and Mitsubishi FX2N series PLC. PLC was taken as slave machine to opera...Aiming at realizing monitoring of tyre bladder vulcanizer operating process, a master-slave control system was composed of configuration software and Mitsubishi FX2N series PLC. PLC was taken as slave machine to operating process of tyre bladder vulcanizer. Configuration software monitored the running state of the tyre bladder vulcanizer realtimely, showed data in real time and recorded data in upper machine. The test results indicate that the system with friendly interface can be operated conveniently for automation management. The system can increase the tyre bladder quality successfully for production requirement.展开更多
Aiming at the existing problems of safety, reliability and flexibility in the traditional coal mine belt transport system, this paper designed the mine centralized control system transmitted by CAN bus and PLC as the ...Aiming at the existing problems of safety, reliability and flexibility in the traditional coal mine belt transport system, this paper designed the mine centralized control system transmitted by CAN bus and PLC as the core, and use comparison instructions and trigger of Siemens S7-200 PLC, the article has elaborated the four level conveyor belt sequence control, realized the sequence start, reverse sequence stop and fault processing and other functions for four level conveyor belt, the compared with traditional timer control instructions scheme, the design has clear thinking, simple design program, and is easy to be extended to multilevel belt drive sequence control.展开更多
This paper designs a set of ventilation and dust removal in coal mine test device and PLC monitoring system. The ventilation and dust removal test device has a set of ventilation and dust removal functions, can automa...This paper designs a set of ventilation and dust removal in coal mine test device and PLC monitoring system. The ventilation and dust removal test device has a set of ventilation and dust removal functions, can automatically monitor air volume, air pressure, resistance and other performance parameters of ventilator and precipitator. The PLC monitoring system can remotely start and stop the variable frequency speed control on the ventilation machine and dust collector, and it can real-time monitor operation state, such as the running current and the parameters of ventilator and dust collector. The paper simulate and realize computer remote centralized monitoring of underground ventilation for mine ventilation system. The actual application shows that: the system is stable and reliable, simple operation, strong scalability.展开更多
This paper summarizes the definition, function, and characteristics of the programmable conlrol technology, and especially analyzes the operation mode of the 750V DC traction power supply system, the protection settin...This paper summarizes the definition, function, and characteristics of the programmable conlrol technology, and especially analyzes the operation mode of the 750V DC traction power supply system, the protection setting the defects of the original system and the factors influencing the safety of power supply. Aimed at the equipment of the PLC programmable control system used in the mine transportation system in recent years, combining parts of the PLC programmable control system equipment used and installed in Tong Ting Coal Mine, this paper introduces the role of the PLC programmable control system and the economic benefits and safety effect.展开更多
With the rapid development of China's economy, the entire social requires the safety, reliability and automation of power supply and distribution system must be improved. Therefore, extensive application of PLC techn...With the rapid development of China's economy, the entire social requires the safety, reliability and automation of power supply and distribution system must be improved. Therefore, extensive application of PLC technology in power supply and distribution system has great significance to ensure normal social life and production, so as to realize the entire national economy sustained and healthy development. This paper briefly introduces the PLC technology, and with practice elaborates the applications of control technology based on PLC in power supply and distribution system fi:om the reform of low-voltage distribution system, automation management and relay protection of power supply and distribution system etc.展开更多
Industrial Control Systems(ICS)and SCADA(Supervisory Control and Data Acquisition)systems play a critical role in the management and regulation of critical infrastructure.SCADA systems brings us closer to the real-tim...Industrial Control Systems(ICS)and SCADA(Supervisory Control and Data Acquisition)systems play a critical role in the management and regulation of critical infrastructure.SCADA systems brings us closer to the real-time application world.All process and equipment control capability is typically provided by a Distributed Control System(DCS)in industries such as power stations,agricultural systems,chemical and water treatment plants.Instead of control through DCS,this paper proposes a SCADA and PLC(Programmable Logic Controller)system to control the ratio control division and the assembly line division inside the chemical plant.A specific design and implementation method for development of SCADA/PLC based real time ratio control and automated assembly line system in a chemical plant is introduced.The assembly line division is further divided into sorting stage,filling stage and the auxiliary stage,which includes the capping unit,labelling unit and then the storage.In the ratio control division,we have defined the levels inside the mixer and ratio of the raw materials through human machine interface(HMI)panel.The ratio of raw materials is kept constant on the basis of flow rates of wild stream and manipulated stream.There is a flexibility in defining new levels and the ratios of the raw materials inside the mixer.But here we taken the predefined levels(low,medium,high)and ratios(3:4,2:1,2:5).Control valves are used for regulating the flow of the compositions.In the assembly line division,the containers are sorted on the basis of size and type of material used i.e.,big sized metallic containers and small sized non-metallic containers by inductive and capacitive proximity sensors.All the processes are facilitated with laser beam type or reflective type sensors on the conveyor system.Building a highly stable and dependable PLC/SCADA system instead of Distributed Control System is required to achieve automatic management and control of chemical industry processes to reduce waste manpower and physical resources,as well as to improve worker safety.展开更多
In this study,we investigated on the application of planar lightwave circuit(PLC)technology in energy-saving control of tunnel lighting.The application status of PLC in the field of energy saving followed by the neces...In this study,we investigated on the application of planar lightwave circuit(PLC)technology in energy-saving control of tunnel lighting.The application status of PLC in the field of energy saving followed by the necessity of energy saving in tunnel lighting was analyzed.Finally,the application of PLC in tunnel lighting energy-saving control around the three dimensions of system overall architecture design,control scheme,and program control process was investigated.The results showed that the system meets the requirements of control effect,robustness,and visual effect after trial operation,and is suitable for practical applications.展开更多
This paper presents the composition, control scheme and signal processing method of frequency conversion motor speed testing system based on $7-200 PLC, and design the hardware circuit, the trapezoidal chart procedure...This paper presents the composition, control scheme and signal processing method of frequency conversion motor speed testing system based on $7-200 PLC, and design the hardware circuit, the trapezoidal chart procedure and touch screen display program. The debugging test shows that the system is simple, practical, and related design work has laid the foundation for the future.展开更多
Four-wheel independently driven electric vehicles(FWID-EV)endow a flexible and scalable control framework to improve vehicle performance.This paper integrates the torque vectoring and active suspension system(ASS)to e...Four-wheel independently driven electric vehicles(FWID-EV)endow a flexible and scalable control framework to improve vehicle performance.This paper integrates the torque vectoring and active suspension system(ASS)to enhance the vehicle’s longitudinal and vertical motion control performance.While the nonlinear characteristic of the tire model leads to a relatively heavier computational burden.To facilitate the controller design and ease the load,a half-vehicle dynamics system is built and simplified to the linear-time-varying(LTV)model.Then a model predictive controller is developed by formulating the objective function by comprehensively considering the safety,energy-saving and comfort requirements.The in-wheel motor efficiency and the power loss of tire slip are treated as optimization indices in this work to reduce energy consumption.Finally,the effectiveness of the proposed controller is verified through the rapid-control-prototype(RCP)test.The results demonstrate the enhancement of the energy-saving as well as comfort on the basis of vehicle stability.展开更多
文摘This paper proposes to adopt SCADA and PLC technology for the improvement of the performance of real time signaling&train control systems in metro railways.The main concern of this paper is to minimize the failure in automated metro railways system operator and integrate the information coming from Operational Control Centre(OCC),traction SCADA system,traction power control,and power supply system.This work presents a simulated prototype of an automated metro train system operator that uses PLC and SCADA for the real time monitoring and control of the metro railway systems.Here,SCADA is used for the visualization of an automated process operation and then the whole opera-tion is regulated with the help of PLC.The PLC used in this process is OMRON(NX1P2-9024DT1)and OMRON’s Sysmac studio programming software is used for developing the ladder logic of PLC.The metro railways system has deployed infrastructure based on SCADA from the power supply system,and each station’s traction power control is connected to the OCC remotely which commands all of the stations and has the highest command priority.An alarm is triggered in the event of an emergency or system congestion.This proposed system overcomes the drawbacks of the current centralized automatic train control(CATC)system.This system provides prominent benefits like augmenting services which may enhance a network’s full load capacity and networkflexibility,which help in easy modification in the existing program at any time.
基金2021 Guangxi Electrical Polytechnic Institute Scientific Research Capability Enhancement Project:Research and development based on Siemens 1200 Visual Material Sorting device(Project No.2021KY03)。
文摘As science and technology continue to progress forward,electrical automation engineering is also developing,of which programmable logic controller(PLC)technology is widely being used.Through the integration of PLC technology and traditional electrical automation technology,good development of modern science and technology is promoted while traditional automation is preserved.The development of electrical engineering can greatly improve the strength of science,technology,and economy in our country.Based on PLC technology,this paper analyzes the design of electrical automation control.
基金Shandong University of Science and Technology Spring Buds Program(No.2010AZZ170)
文摘The control method of rubber tyre gantry (RTG) spreader in Qingdao Port Container Terminal is logic board control,which has many shortcomings such as expensive spare parts and high faults.This paper designs a new control system using programmable logic controller (PLC) centralized control to replace the original logic board control.The new system mainly contains complete ELME spreader control scheme design,hardware selection and PLC control program development.Its field application shows that the system has characteristics of high efficiency,low running cost,easy maintenance.
基金National Natural Science Foundation of China (50175020)
文摘Fiber winding tension is an important factor in the molding techniques of composite material which influences the quality of winding product directly, and the tension control is a key technique in fiber winding techniques. This paper introduces a closed-loop tension control system with the programmable logic controller (PLC) with function modules as its control kernel, the alternating current (AC) servo motor as execute element and the radius-following device to accomplish the real-time radius compensation. The mechanism of the tension control system is analyzed and the numerical model is set up. The compensation technique of the radius of the scroll is analyzed. Experimental results show that the system is well qualified with high control precision and high reaction speed.
基金Supported by the International S&T Cooperation Program of China(No.2014DFR70280)Key Research and Development Project of Shanxi Province(No.201903D321012)+1 种基金Key Research and Development Project of Shanxi Province(No.201903D121023)Patent Promotion and Implementation Funding Research Project of Shanxi Province(No.20210521).
文摘In the field of industrial process control,a fast-development platform for programmable logic controller(PLC)systems is designed in order to solve two main problems of rapid development of PLC control system and programmability of controlling software.In the aspect of design,the platform is composed of hardware controlling and software monitoring and is taking industrial computer as the core.Under the Windows environment,the platform establishes the control instruction set,develops the configuration function and visual programming function of the monitoring software and it integrates PLC controller based on Visual Basic software.In order to achieve the function of data monitoring,it has realized the serial communication between computer and PLC by using RS-485 and RS-232 serial ports line communication.The platform designs the intelligent instruction scheduling strategy by studying the encoding and decoding rules of the communication instruction set.It proposes a method for rapidly developing control programs by adopting the expert control mode,which enables clients to develop and modify programs conveniently by importing instructions in a non-coded manner.After experimental testing,the platform is proved successful achieving both the rapid development of PLC control system and the rapid modification of monitoring software.
文摘Due to the well condition and the un-expected imbalance movement of the pumping unit in use, the energy consumes a lot. The existing balancing equipment cannot adjust and monitor the pumping units in real time. Therefore this paper introduces the new adaptive balancing equipment—fan-shaped adaptive balancing intelligent device, projects a design of such control system based on PLC, and determines the principle of the control system, the execution software and the design flow. Site commissioning effect on Daqing Oilfield shows this fan-shaped adaptive balancing intelligent device can effectively adjust and monitor the pumping unit in real time, the balance even adjusts from 0.787 to 0.901, and integrated energy saving rate is 14.2%. It is approved that this control device is professionally designed, with strong compatibility, and high reliability.
基金This work is funded by the National Key Research and Development Plan(Grant No.2018YFB0803504)the National Natural Science Foundation of China(Nos.61702223,61702220,61871140,U1636215)the Opening Project of Shanghai Trusted Industrial Control Platform.
文摘Programmable Logic Controllers(PLC),core of industrial control systems,is widely used in industrial control systems.The security of PLC is the key to the security of industrial control systems.Nowadays,a large number of industrial control systems are connected to the Internet which exposes the PLC equipment to the Internet,and thus raising security concerns.First of all,we introduce the basic principle of PLC in this paper.Then we analyze the PLC code security,firmware security,network security,virus vulnerability and Modbus communication protocol by reviewing the previous related work.Finally,we make a summary of the current security protection methods.
文摘The principle and working process of Vacuum Resin Shot Dosing Equipment(VRSDE) are analyzed and the characteristics of IP1612-220PLC (Programmable Logical Controller) areintroduced briefly at first. Then the authors discuss the flow of program, the assignment of PLCI/O ports, the wiring diagram, and the ladder logic program of the PLC control system of VRSDE indetail. Some application issues of the system are accounted for in addition. Finally, according tothe information acquired from users, the authors draw the conclusion: this system owns a highreliability and a-vailability and greatly improves the automatic degree of VRDE.
文摘Aiming at realizing monitoring of tyre bladder vulcanizer operating process, a master-slave control system was composed of configuration software and Mitsubishi FX2N series PLC. PLC was taken as slave machine to operating process of tyre bladder vulcanizer. Configuration software monitored the running state of the tyre bladder vulcanizer realtimely, showed data in real time and recorded data in upper machine. The test results indicate that the system with friendly interface can be operated conveniently for automation management. The system can increase the tyre bladder quality successfully for production requirement.
文摘Aiming at the existing problems of safety, reliability and flexibility in the traditional coal mine belt transport system, this paper designed the mine centralized control system transmitted by CAN bus and PLC as the core, and use comparison instructions and trigger of Siemens S7-200 PLC, the article has elaborated the four level conveyor belt sequence control, realized the sequence start, reverse sequence stop and fault processing and other functions for four level conveyor belt, the compared with traditional timer control instructions scheme, the design has clear thinking, simple design program, and is easy to be extended to multilevel belt drive sequence control.
文摘This paper designs a set of ventilation and dust removal in coal mine test device and PLC monitoring system. The ventilation and dust removal test device has a set of ventilation and dust removal functions, can automatically monitor air volume, air pressure, resistance and other performance parameters of ventilator and precipitator. The PLC monitoring system can remotely start and stop the variable frequency speed control on the ventilation machine and dust collector, and it can real-time monitor operation state, such as the running current and the parameters of ventilator and dust collector. The paper simulate and realize computer remote centralized monitoring of underground ventilation for mine ventilation system. The actual application shows that: the system is stable and reliable, simple operation, strong scalability.
文摘This paper summarizes the definition, function, and characteristics of the programmable conlrol technology, and especially analyzes the operation mode of the 750V DC traction power supply system, the protection setting the defects of the original system and the factors influencing the safety of power supply. Aimed at the equipment of the PLC programmable control system used in the mine transportation system in recent years, combining parts of the PLC programmable control system equipment used and installed in Tong Ting Coal Mine, this paper introduces the role of the PLC programmable control system and the economic benefits and safety effect.
文摘With the rapid development of China's economy, the entire social requires the safety, reliability and automation of power supply and distribution system must be improved. Therefore, extensive application of PLC technology in power supply and distribution system has great significance to ensure normal social life and production, so as to realize the entire national economy sustained and healthy development. This paper briefly introduces the PLC technology, and with practice elaborates the applications of control technology based on PLC in power supply and distribution system fi:om the reform of low-voltage distribution system, automation management and relay protection of power supply and distribution system etc.
文摘Industrial Control Systems(ICS)and SCADA(Supervisory Control and Data Acquisition)systems play a critical role in the management and regulation of critical infrastructure.SCADA systems brings us closer to the real-time application world.All process and equipment control capability is typically provided by a Distributed Control System(DCS)in industries such as power stations,agricultural systems,chemical and water treatment plants.Instead of control through DCS,this paper proposes a SCADA and PLC(Programmable Logic Controller)system to control the ratio control division and the assembly line division inside the chemical plant.A specific design and implementation method for development of SCADA/PLC based real time ratio control and automated assembly line system in a chemical plant is introduced.The assembly line division is further divided into sorting stage,filling stage and the auxiliary stage,which includes the capping unit,labelling unit and then the storage.In the ratio control division,we have defined the levels inside the mixer and ratio of the raw materials through human machine interface(HMI)panel.The ratio of raw materials is kept constant on the basis of flow rates of wild stream and manipulated stream.There is a flexibility in defining new levels and the ratios of the raw materials inside the mixer.But here we taken the predefined levels(low,medium,high)and ratios(3:4,2:1,2:5).Control valves are used for regulating the flow of the compositions.In the assembly line division,the containers are sorted on the basis of size and type of material used i.e.,big sized metallic containers and small sized non-metallic containers by inductive and capacitive proximity sensors.All the processes are facilitated with laser beam type or reflective type sensors on the conveyor system.Building a highly stable and dependable PLC/SCADA system instead of Distributed Control System is required to achieve automatic management and control of chemical industry processes to reduce waste manpower and physical resources,as well as to improve worker safety.
文摘In this study,we investigated on the application of planar lightwave circuit(PLC)technology in energy-saving control of tunnel lighting.The application status of PLC in the field of energy saving followed by the necessity of energy saving in tunnel lighting was analyzed.Finally,the application of PLC in tunnel lighting energy-saving control around the three dimensions of system overall architecture design,control scheme,and program control process was investigated.The results showed that the system meets the requirements of control effect,robustness,and visual effect after trial operation,and is suitable for practical applications.
文摘This paper presents the composition, control scheme and signal processing method of frequency conversion motor speed testing system based on $7-200 PLC, and design the hardware circuit, the trapezoidal chart procedure and touch screen display program. The debugging test shows that the system is simple, practical, and related design work has laid the foundation for the future.
基金Supported by National Natural Science Foundation of China(Grant Nos.51975118,52025121)Foundation of State Key Laboratory of Automotive Simulation and Control of China(Grant No.20210104)+1 种基金Foundation of State Key Laboratory of Automobile Safety and Energy Saving of China(Grant No.KFZ2201)Special Fund of Jiangsu Province for the Transformation of Scientific and Technological Achievements of China(Grant No.BA2021023).
文摘Four-wheel independently driven electric vehicles(FWID-EV)endow a flexible and scalable control framework to improve vehicle performance.This paper integrates the torque vectoring and active suspension system(ASS)to enhance the vehicle’s longitudinal and vertical motion control performance.While the nonlinear characteristic of the tire model leads to a relatively heavier computational burden.To facilitate the controller design and ease the load,a half-vehicle dynamics system is built and simplified to the linear-time-varying(LTV)model.Then a model predictive controller is developed by formulating the objective function by comprehensively considering the safety,energy-saving and comfort requirements.The in-wheel motor efficiency and the power loss of tire slip are treated as optimization indices in this work to reduce energy consumption.Finally,the effectiveness of the proposed controller is verified through the rapid-control-prototype(RCP)test.The results demonstrate the enhancement of the energy-saving as well as comfort on the basis of vehicle stability.