This paper addresses the sampled-data multi-objective active suspension control problem for an in-wheel motor driven electric vehicle subject to stochastic sampling periods and asynchronous premise variables.The focus...This paper addresses the sampled-data multi-objective active suspension control problem for an in-wheel motor driven electric vehicle subject to stochastic sampling periods and asynchronous premise variables.The focus is placed on the scenario that the dynamical state of the half-vehicle active suspension system is transmitted over an in-vehicle controller area network that only permits the transmission of sampled data packets.For this purpose,a stochastic sampling mechanism is developed such that the sampling periods can randomly switch among different values with certain mathematical probabilities.Then,an asynchronous fuzzy sampled-data controller,featuring distinct premise variables from the active suspension system,is constructed to eliminate the stringent requirement that the sampled-data controller has to share the same grades of membership.Furthermore,novel criteria for both stability analysis and controller design are derived in order to guarantee that the resultant closed-loop active suspension system is stochastically stable with simultaneous𝐻2 and𝐻∞performance requirements.Finally,the effectiveness of the proposed stochastic sampled-data multi-objective control method is verified via several numerical cases studies in both time domain and frequency domain under various road disturbance profiles.展开更多
The most critical obstacle for four-wheel independently driven electric vehicles(4WID-EVs)is the driving range.Being the actuators of 4WID-EVs,motors account for its major power consumption.In this sense,by properly d...The most critical obstacle for four-wheel independently driven electric vehicles(4WID-EVs)is the driving range.Being the actuators of 4WID-EVs,motors account for its major power consumption.In this sense,by properly distributing torques to minimize the power consumption,the driving range of 4WID-EV can be effectively improved.This paper proposes a model predictive control(MPC)-based torque distribution scheme,which minimizes the power consumption of 4WID-EVs while guaranteeing its tracking performance of planar motions.By incorporating the motor model considering iron losses,the optimal torque distribution can be achieved without an additional torque controller.Also,for this reason,the proposed control scheme is computationally efficient,since the power consumption term to be optimized,which is expressed as the product of the motor voltages and currents,is much simpler than that derived from the efficiency map.With reasonable simplification and linearization,the MPC problem is converted to a quadratic programming problem,which can be solved efficiently.The simulation results in MATLAB and CarSim co-simulation environments demonstrate that the proposed scheme effectively reduces power consumption with guaranteed tracking performance.展开更多
This paper addresses the co-design problem of decentralized dynamic event-triggered communication and active suspension control for an in-wheel motor driven electric vehicle equipped with a dynamic damper. The main ob...This paper addresses the co-design problem of decentralized dynamic event-triggered communication and active suspension control for an in-wheel motor driven electric vehicle equipped with a dynamic damper. The main objective is to simultaneously improve the desired suspension performance caused by various road disturbances and alleviate the network resource utilization for the concerned in-vehicle networked suspension system. First, a T-S fuzzy active suspension model of an electric vehicle under dynamic damping is established. Second,a novel decentralized dynamic event-triggered communication mechanism is developed to regulate each sensor's data transmissions such that sampled data packets on each sensor are scheduled in an independent manner. In contrast to the traditional static triggering mechanisms, a key feature of the proposed mechanism is that the threshold parameter in the event trigger is adjusted adaptively over time to reduce the network resources occupancy. Third, co-design criteria for the desired event-triggered fuzzy controller and dynamic triggering mechanisms are derived. Finally, comprehensive comparative simulation studies of a 3-degrees-of-freedom quarter suspension model are provided under both bump road disturbance and ISO-2631 classified random road disturbance to validate the effectiveness of the proposed co-design approach. It is shown that ride comfort can be greatly improved in either road disturbance case and the suspension deflection, dynamic tyre load and actuator control input are all kept below the prescribed maximum allowable limits, while simultaneously maintaining desirable communication efficiency.展开更多
With the worsening of energy crisis and environmental pollution,electric vehicles with four in?wheel motors have been paid more and more attention. The main research subject is how to reasonably distribute the driving...With the worsening of energy crisis and environmental pollution,electric vehicles with four in?wheel motors have been paid more and more attention. The main research subject is how to reasonably distribute the driving torque of each wheel. Considering the longitudinal motion,lateral motion,yaw movement and rotation of the four wheels,the tire model and the seven DOF dynamic model of the vehicle are established in this paper. Then,the torque distribution method is proposed based on road adhesion margin,which can be divided into anti ? slip control layer and torque distribution layer. The anti?slip control layer is built based on sliding mode variable structure control,whose main function is to avoid the excessive slip of wheels caused by road conditions. The torque distribution layer is responsible for selecting the torque distribution method based on road adhesion margin. The simulation results show that the proposed torque distribution method can ensure the vehicle quickly adapt to current road adhesion conditions,and improve the handling stability and dynamic performance of the vehicle in the driving process.展开更多
To obtain a good drivability and high efficiency of the micro-electric vehicle, a new driving in-wheel motor design was analyzed and optimized. Maxwell software was used to build finite element simulation model of the...To obtain a good drivability and high efficiency of the micro-electric vehicle, a new driving in-wheel motor design was analyzed and optimized. Maxwell software was used to build finite element simulation model of the driving in-wheel motor. The basic features and starting process were analyzed by field-circuit coupled finite element method. The internal complicated magnetic field distribution and dynamic performance simulation were obtained in different positions. No-load and load characteristics of the driving in-wheel motor was simulated, and the power consumption of materials was computed. The conformity of the final simulation results with the experimental data indicates that this method can be used to provide a theoretical basis to make further optimal design of this new driving in-wheel motor and its control system, so as to improve the starting torque and reduce torque ripple of the motor. This method can shorten the development cycle of in-wheel motors and save development costs, which has a wide range of engineering application value.展开更多
To study the ride comfort of wheel-hub-driven electric vehicles,a simulation and verifi-cation method based on a combination of ADAMS and MATLAB modeling is proposed.First,a multibody dynamic simulation model of an in...To study the ride comfort of wheel-hub-driven electric vehicles,a simulation and verifi-cation method based on a combination of ADAMS and MATLAB modeling is proposed.First,a multibody dynamic simulation model of an in-wheel motor-driven electric vehi-cle is established using ADAMS/Car.Then,the pavement excitation and electromag-netic force analytical equations are provided based on the specific operating conditions of the vehicle and the in-wheel motor to analyze the impact of the electromagnetic force fluctuation from an unsprung mass increase and motor air gap unevenness on vehicle ride comfort after the introduction of an in-wheel motor.Next,the vibration model and the motion differential equation of the body–wheel dual-mass system of an in-wheel motor-driven electric vehicle are established.The influence of the in-wheel motor on the vibration response index of the dual-mass system is analyzed by using MATLAB/Simulink software.The variation in the vehicle vibration performance index with/without the motor electromagnetic force excitation factor is analyzed and com-pared with the ADAMS multibody dynamics analysis results.The results show that the method based on a combination of ADAMS and MATLAB modeling can forecast the ride comfort of an in-wheel motor-driven electric vehicle,reducing the cost of physical prototype experiments.展开更多
When a four in-wheel motors drive electric vehicle with a specific wheels mass is running on an uneven road and transient steering occurs in the meantime, the joint action of the large unsprung dynamic load and the ce...When a four in-wheel motors drive electric vehicle with a specific wheels mass is running on an uneven road and transient steering occurs in the meantime, the joint action of the large unsprung dynamic load and the centrifugal force may cause the vehicle to rollover. To avoid the above accident, a rollover prevention control method based on active distribution of the in-wheel motors driving torques is investigated. First, tile rollover evolution process of the four in-wheel motors drive electric vehicle under the described operating condition is analyzed. Next, a multiple degrees of freedom vehicle dynamics model including an uneven road tyre model is established, and the rollover warning threshold is determined according to the load transfer ratio. Then, the hypothesis of the effects of unsprung mass on the vehicle roll stability on a plat road and on an uneven road is verified respectively. Finally, a rollover prevention controller is designed based on the distribution of the four wheels driving torques with sliding mode control, and the control effect is verified by simulations. The conclusion shows that, once the wheels mass does not match road conditions, the large unsprung mass may play a detrimental role on the vehicle roll stability on an uneven road, which is different from the beneficial role of large unsprung mass on the vehicle roll stability on a plat road. With the aforementioned rollover prevention controller, the vehicle rollover, which is caused by the coupling effect between large unsprung dynamic load and suspension potential energy on an uneven road, can be avoided effectively.展开更多
文摘This paper addresses the sampled-data multi-objective active suspension control problem for an in-wheel motor driven electric vehicle subject to stochastic sampling periods and asynchronous premise variables.The focus is placed on the scenario that the dynamical state of the half-vehicle active suspension system is transmitted over an in-vehicle controller area network that only permits the transmission of sampled data packets.For this purpose,a stochastic sampling mechanism is developed such that the sampling periods can randomly switch among different values with certain mathematical probabilities.Then,an asynchronous fuzzy sampled-data controller,featuring distinct premise variables from the active suspension system,is constructed to eliminate the stringent requirement that the sampled-data controller has to share the same grades of membership.Furthermore,novel criteria for both stability analysis and controller design are derived in order to guarantee that the resultant closed-loop active suspension system is stochastically stable with simultaneous𝐻2 and𝐻∞performance requirements.Finally,the effectiveness of the proposed stochastic sampled-data multi-objective control method is verified via several numerical cases studies in both time domain and frequency domain under various road disturbance profiles.
基金supported in part by National Natural Science Foundation of China(NSFC)under Project No.51737010.
文摘The most critical obstacle for four-wheel independently driven electric vehicles(4WID-EVs)is the driving range.Being the actuators of 4WID-EVs,motors account for its major power consumption.In this sense,by properly distributing torques to minimize the power consumption,the driving range of 4WID-EV can be effectively improved.This paper proposes a model predictive control(MPC)-based torque distribution scheme,which minimizes the power consumption of 4WID-EVs while guaranteeing its tracking performance of planar motions.By incorporating the motor model considering iron losses,the optimal torque distribution can be achieved without an additional torque controller.Also,for this reason,the proposed control scheme is computationally efficient,since the power consumption term to be optimized,which is expressed as the product of the motor voltages and currents,is much simpler than that derived from the efficiency map.With reasonable simplification and linearization,the MPC problem is converted to a quadratic programming problem,which can be solved efficiently.The simulation results in MATLAB and CarSim co-simulation environments demonstrate that the proposed scheme effectively reduces power consumption with guaranteed tracking performance.
文摘This paper addresses the co-design problem of decentralized dynamic event-triggered communication and active suspension control for an in-wheel motor driven electric vehicle equipped with a dynamic damper. The main objective is to simultaneously improve the desired suspension performance caused by various road disturbances and alleviate the network resource utilization for the concerned in-vehicle networked suspension system. First, a T-S fuzzy active suspension model of an electric vehicle under dynamic damping is established. Second,a novel decentralized dynamic event-triggered communication mechanism is developed to regulate each sensor's data transmissions such that sampled data packets on each sensor are scheduled in an independent manner. In contrast to the traditional static triggering mechanisms, a key feature of the proposed mechanism is that the threshold parameter in the event trigger is adjusted adaptively over time to reduce the network resources occupancy. Third, co-design criteria for the desired event-triggered fuzzy controller and dynamic triggering mechanisms are derived. Finally, comprehensive comparative simulation studies of a 3-degrees-of-freedom quarter suspension model are provided under both bump road disturbance and ISO-2631 classified random road disturbance to validate the effectiveness of the proposed co-design approach. It is shown that ride comfort can be greatly improved in either road disturbance case and the suspension deflection, dynamic tyre load and actuator control input are all kept below the prescribed maximum allowable limits, while simultaneously maintaining desirable communication efficiency.
基金supported by the Natural Science Foundation of Jiangsu Province(No. BK20151472)the Research Project of Key Laboratory of Advanced Manufacture Technology for Automobile Parts(Chongqing University of Technology) , Ministry of Education (No. 2015KLMT04)
文摘With the worsening of energy crisis and environmental pollution,electric vehicles with four in?wheel motors have been paid more and more attention. The main research subject is how to reasonably distribute the driving torque of each wheel. Considering the longitudinal motion,lateral motion,yaw movement and rotation of the four wheels,the tire model and the seven DOF dynamic model of the vehicle are established in this paper. Then,the torque distribution method is proposed based on road adhesion margin,which can be divided into anti ? slip control layer and torque distribution layer. The anti?slip control layer is built based on sliding mode variable structure control,whose main function is to avoid the excessive slip of wheels caused by road conditions. The torque distribution layer is responsible for selecting the torque distribution method based on road adhesion margin. The simulation results show that the proposed torque distribution method can ensure the vehicle quickly adapt to current road adhesion conditions,and improve the handling stability and dynamic performance of the vehicle in the driving process.
基金Project(CSTC2009AC6051) supported by Ministry of Major Science & Technology of Chongqing, ChinaProject(CDJXS12110010) supported by the Fundamental Research Funds for the Central Universities, China
文摘To obtain a good drivability and high efficiency of the micro-electric vehicle, a new driving in-wheel motor design was analyzed and optimized. Maxwell software was used to build finite element simulation model of the driving in-wheel motor. The basic features and starting process were analyzed by field-circuit coupled finite element method. The internal complicated magnetic field distribution and dynamic performance simulation were obtained in different positions. No-load and load characteristics of the driving in-wheel motor was simulated, and the power consumption of materials was computed. The conformity of the final simulation results with the experimental data indicates that this method can be used to provide a theoretical basis to make further optimal design of this new driving in-wheel motor and its control system, so as to improve the starting torque and reduce torque ripple of the motor. This method can shorten the development cycle of in-wheel motors and save development costs, which has a wide range of engineering application value.
基金The authors would like to thank the National Natural Science Foundation of China(Grant Nos.51575001,51605003)the Anhui University Scientific Research Plat-form Innovation Team Building Projects(2016–2018)Anhui Province for sup-porting R&D and innovation projects([2020]479).
文摘To study the ride comfort of wheel-hub-driven electric vehicles,a simulation and verifi-cation method based on a combination of ADAMS and MATLAB modeling is proposed.First,a multibody dynamic simulation model of an in-wheel motor-driven electric vehi-cle is established using ADAMS/Car.Then,the pavement excitation and electromag-netic force analytical equations are provided based on the specific operating conditions of the vehicle and the in-wheel motor to analyze the impact of the electromagnetic force fluctuation from an unsprung mass increase and motor air gap unevenness on vehicle ride comfort after the introduction of an in-wheel motor.Next,the vibration model and the motion differential equation of the body–wheel dual-mass system of an in-wheel motor-driven electric vehicle are established.The influence of the in-wheel motor on the vibration response index of the dual-mass system is analyzed by using MATLAB/Simulink software.The variation in the vehicle vibration performance index with/without the motor electromagnetic force excitation factor is analyzed and com-pared with the ADAMS multibody dynamics analysis results.The results show that the method based on a combination of ADAMS and MATLAB modeling can forecast the ride comfort of an in-wheel motor-driven electric vehicle,reducing the cost of physical prototype experiments.
基金supported by the National Natural Science Foundation of China(Grant Nos.51405259&51775478)
文摘When a four in-wheel motors drive electric vehicle with a specific wheels mass is running on an uneven road and transient steering occurs in the meantime, the joint action of the large unsprung dynamic load and the centrifugal force may cause the vehicle to rollover. To avoid the above accident, a rollover prevention control method based on active distribution of the in-wheel motors driving torques is investigated. First, tile rollover evolution process of the four in-wheel motors drive electric vehicle under the described operating condition is analyzed. Next, a multiple degrees of freedom vehicle dynamics model including an uneven road tyre model is established, and the rollover warning threshold is determined according to the load transfer ratio. Then, the hypothesis of the effects of unsprung mass on the vehicle roll stability on a plat road and on an uneven road is verified respectively. Finally, a rollover prevention controller is designed based on the distribution of the four wheels driving torques with sliding mode control, and the control effect is verified by simulations. The conclusion shows that, once the wheels mass does not match road conditions, the large unsprung mass may play a detrimental role on the vehicle roll stability on an uneven road, which is different from the beneficial role of large unsprung mass on the vehicle roll stability on a plat road. With the aforementioned rollover prevention controller, the vehicle rollover, which is caused by the coupling effect between large unsprung dynamic load and suspension potential energy on an uneven road, can be avoided effectively.