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
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
This paper presents parametric analysis of driving range of electric vehicles driven by V-type interior permanent magnet motors aiming at maximum driving range,i.e.,minimal total energy consumption of the motors over ...This paper presents parametric analysis of driving range of electric vehicles driven by V-type interior permanent magnet motors aiming at maximum driving range,i.e.,minimal total energy consumption of the motors over a driving cycle.Influence of design parameters including tooth width,slot depth,split ratio(the ratio of inner diameter to outer diameter of the stator),and V-type magnet angle on the energy consumption of the motors and driving range of electric vehicles over a driving cycle is investigated in detail.The investigation is carried out for two typical driving cycles with different characteristics to represent different conditions:One is high-speed,low-torque cycle-Highway Fuel Economy Test and the other is low-speed,high-torque cycle-Artemis Urban Driving Cycle.It shows that for both driving cycles,the same parameters may have different influence on the energy consumption of the motors,as well as driving range of electric vehicles.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
Aimed at the requirements for electric transmission system of a military tracked vehicle, the motor's design indexes were analysed and calculated. A model based on saturate inductance parameter of interior permane...Aimed at the requirements for electric transmission system of a military tracked vehicle, the motor's design indexes were analysed and calculated. A model based on saturate inductance parameter of interior permanent magnet (IPM) synchronous motor was brought forward by using finite element analysis. And its control strategy based on the largest running capability was studied also. The experiment results for a scale model show that the modelling method improves the model's accuracy, and the motor's control strategy is effective.展开更多
The paper deals with the designing of an electric drive system used for hybrid electric vehicles. The driving system is realized with an induction motor and a voltage source inverter. Specifically, the application is ...The paper deals with the designing of an electric drive system used for hybrid electric vehicles. The driving system is realized with an induction motor and a voltage source inverter. Specifically, the application is for a series hybrid vehicle powered by electric storage batteries charged by solar batteries. In the first part of the paper the designing of the electric storage batteries and of the photoelectric system is presented. In the second part of the paper some aspects regarding the designing of the induction motor are presented. Then some aspects concerning the voltage source inverter designing are exposed.展开更多
For electric vehicles (EVs),it is necessary to improve endurance mileage by improving the efficiency.There exists a trend towards increasing the system voltage and switching frequency,contributing to improve charging ...For electric vehicles (EVs),it is necessary to improve endurance mileage by improving the efficiency.There exists a trend towards increasing the system voltage and switching frequency,contributing to improve charging speed and power density.However,this trend poses significant challenges for high-voltage and high-frequency motor controllers,which are plagued by increased switching losses and pronounced switching oscillations as consequences of hard switching.The deployment of soft switching technology presents a viable solution to mitigate these issues.This paper reviews the applications of soft switching technologies for three-phase inverters and classifies them based on distinct characteristics.For each type of inverter,the advantages and disadvantages are evaluated.Then,the paper introduces the research progress and control methods of soft switching inverters (SSIs).Moreover,it presents a comparative analysis among the conventional hard switching inverters (HSIs),an active clamping resonant DC link inverter (ACRDCLI) and an auxiliary resonant commuted pole inverter (ARCPI).Finally,the problems and prospects of soft switching technology applied to motor controllers for EVs are put forward.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, the 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
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
In recent decades,worldwide global warming and reduction in petroleum resources have accelerated researcher’s attention to produce alternative sustainable and environmentally clean transportation systems.Electrificat...In recent decades,worldwide global warming and reduction in petroleum resources have accelerated researcher’s attention to produce alternative sustainable and environmentally clean transportation systems.Electrification of vehicular technology is capable of curbing the environmental pollution problem in an efficient and effective way,due to high efficiency electric motors,development and advancement in the field of power electronic devices,digital signal processing and advanced control techniques.This article presents a comprehensive review on different configurations/architecture of electric vehicles(EVs)and hybrid electric vehicles(HEVs),traction motors for electric propulsion system and high performance speed sensorless control of traction drive.The basic architecture key components of hybrid vehicle and different power train configurations with respect to applications and limitations are discussed.The integral part of electric propulsion system,traction motor classes for desired operational characteristics and limitations are summarized from a system perspective with the latest improvements.High performance traction motor control techniques are discussed with respect to automotive applications.Finally,speed sensorless control techniques research trends as well as an extensive review on rotor speed estimation techniques for robust and efficient sensorless traction drive control are highlighted.This article provides state of the art key global trends and tradeoff of various technologies with future trends and potential areas of research.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.
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This work was supported by the National Natural Science Foundation of China under Grant 51677169 and Grant 51637009.
文摘This paper presents parametric analysis of driving range of electric vehicles driven by V-type interior permanent magnet motors aiming at maximum driving range,i.e.,minimal total energy consumption of the motors over a driving cycle.Influence of design parameters including tooth width,slot depth,split ratio(the ratio of inner diameter to outer diameter of the stator),and V-type magnet angle on the energy consumption of the motors and driving range of electric vehicles over a driving cycle is investigated in detail.The investigation is carried out for two typical driving cycles with different characteristics to represent different conditions:One is high-speed,low-torque cycle-Highway Fuel Economy Test and the other is low-speed,high-torque cycle-Artemis Urban Driving Cycle.It shows that for both driving cycles,the same parameters may have different influence on the energy consumption of the motors,as well as driving range of electric vehicles.
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.
文摘Aimed at the requirements for electric transmission system of a military tracked vehicle, the motor's design indexes were analysed and calculated. A model based on saturate inductance parameter of interior permanent magnet (IPM) synchronous motor was brought forward by using finite element analysis. And its control strategy based on the largest running capability was studied also. The experiment results for a scale model show that the modelling method improves the model's accuracy, and the motor's control strategy is effective.
文摘The paper deals with the designing of an electric drive system used for hybrid electric vehicles. The driving system is realized with an induction motor and a voltage source inverter. Specifically, the application is for a series hybrid vehicle powered by electric storage batteries charged by solar batteries. In the first part of the paper the designing of the electric storage batteries and of the photoelectric system is presented. In the second part of the paper some aspects regarding the designing of the induction motor are presented. Then some aspects concerning the voltage source inverter designing are exposed.
基金funded by Tsinghua University-Weichai Power Intelligent Manufacturing Joint Research Institute (WCDL-GH-2022-0131)。
文摘For electric vehicles (EVs),it is necessary to improve endurance mileage by improving the efficiency.There exists a trend towards increasing the system voltage and switching frequency,contributing to improve charging speed and power density.However,this trend poses significant challenges for high-voltage and high-frequency motor controllers,which are plagued by increased switching losses and pronounced switching oscillations as consequences of hard switching.The deployment of soft switching technology presents a viable solution to mitigate these issues.This paper reviews the applications of soft switching technologies for three-phase inverters and classifies them based on distinct characteristics.For each type of inverter,the advantages and disadvantages are evaluated.Then,the paper introduces the research progress and control methods of soft switching inverters (SSIs).Moreover,it presents a comparative analysis among the conventional hard switching inverters (HSIs),an active clamping resonant DC link inverter (ACRDCLI) and an auxiliary resonant commuted pole inverter (ARCPI).Finally,the problems and prospects of soft switching technology applied to motor controllers for EVs are put forward.
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, the 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.
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.
文摘In recent decades,worldwide global warming and reduction in petroleum resources have accelerated researcher’s attention to produce alternative sustainable and environmentally clean transportation systems.Electrification of vehicular technology is capable of curbing the environmental pollution problem in an efficient and effective way,due to high efficiency electric motors,development and advancement in the field of power electronic devices,digital signal processing and advanced control techniques.This article presents a comprehensive review on different configurations/architecture of electric vehicles(EVs)and hybrid electric vehicles(HEVs),traction motors for electric propulsion system and high performance speed sensorless control of traction drive.The basic architecture key components of hybrid vehicle and different power train configurations with respect to applications and limitations are discussed.The integral part of electric propulsion system,traction motor classes for desired operational characteristics and limitations are summarized from a system perspective with the latest improvements.High performance traction motor control techniques are discussed with respect to automotive applications.Finally,speed sensorless control techniques research trends as well as an extensive review on rotor speed estimation techniques for robust and efficient sensorless traction drive control are highlighted.This article provides state of the art key global trends and tradeoff of various technologies with future trends and potential areas of research.