Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering ( IF 1.7 ) Pub Date : 2021-07-07 , DOI: 10.1177/09544070211030444 Qiuwei Wang 1 , Youqun Zhao 1 , Fen Lin 1 , Chenxi Zhang 1 , Huifan Deng 1
In order to realize the integration of handling, lateral stability, rollover prevention, and ride comfort of distributed in-wheel motor drive electric vehicles (EVs), this study presents an integrated control strategy for distributed EVs based on states estimation through particle filter (PF) and nonlinear model predictive control (NMPC). To estimate the vehicle states including longitudinal velocity, lateral velocity, and sideslip angle, the random walk model is established to avoid complex tire forces calculation. Then PF completes estimation by measuring longitudinal and lateral acceleration and yaw rate. Considering handling, lateral stability, anti-rollover performance, and ride comfort comprehensively, proposed controller takes full advantages of distributed electric vehicle platform with four-wheel steering (4WS), four-wheel-drive (4WD), and active suspension technology to improve the overall performance in the NMPC structure. State/actuator constraints are also taken into account in the scheme. Finally, the co-simulation through commercial software Carsim and Simulink verifies the effectiveness of the vehicle states estimator and designed control algorithm. Results show that estimation error is controlled within 1% and overall performance of distributed EV is improved.
中文翻译:
基于状态估计和非线性MPC的分布式轮毂电机驱动电动汽车集成控制
为实现分布式轮毂电机驱动电动汽车 (EV) 的操控性、横向稳定性、防侧翻和乘坐舒适性的集成,本研究提出了一种基于粒子滤波器 (PF) 状态估计的分布式 EV 集成控制策略。 ) 和非线性模型预测控制 (NMPC)。为了估计车辆的纵向速度、横向速度和侧滑角等状态,建立随机游走模型以避免复杂的轮胎力计算。然后PF通过测量纵向和横向加速度和偏航率来完成估计。综合考虑操控性、横向稳定性、抗侧翻性能和乘坐舒适性,所提出的控制器充分利用了具有四轮转向(4WS)、四轮驱动(4WD)、和主动悬架技术,以提高NMPC结构的整体性能。该方案还考虑了状态/执行器约束。最后,通过商业软件 Carsim 和 Simulink 的联合仿真验证了车辆状态估计器和设计的控制算法的有效性。结果表明,估计误差控制在 1% 以内,分布式 EV 的整体性能得到提高。