This study applies nonlinear model predictive control (NMPC) to the torque-vectoring (TV) and front-to-total anti-roll moment distribution control of a four-wheel-drive electric vehicle with in-wheel-motors, a brake-by-wire system, and active suspension actuators. The NMPC cost function formulation is based on energy efficiency criteria, and strives to minimize the power losses caused by the longitudinal and lateral tire slips, friction brakes, and electric powertrains, while enhancing the vehicle cornering response in steady-state and transient conditions. The controller is assessed through simulations using an experimentally validated high-fidelity vehicle model, along ramp steer and multiple step steer maneuvers, including and excluding the direct yaw moment and active anti-roll moment distribution actuations. The results show: 1) the substantial enhancement of energy saving and vehicle stabilization performance brought by the integration of the active suspension contribution and TV; 2) the significance of the power loss terms of the NMPC formulation on the results; and 3) the effectiveness of the NMPC with respect to the benchmarking feedback and rule based controllers.

中文翻译：

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集成节能扭矩矢量和防侧倾力矩分配的非线性模型预测控制

本研究将非线性模型预测控制 (NMPC) 应用于带有轮毂电机、制动助力器的四轮驱动电动汽车的扭矩矢量 (TV) 和前轮到总防侧倾力矩分配控制。线系统和主动悬架执行器。NMPC 成本函数公式基于能效标准，力求将纵向和横向轮胎打滑、摩擦制动器和电动动力系统造成的功率损失降至最低，同时增强稳态和瞬态条件下的车辆转弯响应。控制器通过使用经实验验证的高保真车辆模型、斜坡转向和多步转向操纵的模拟进行评估，包括和排除直接偏航力矩和主动抗侧倾力矩分布驱动。结果显示：1) 主动悬架贡献与TV的融合带来的节能和整车稳定性能的大幅提升；2) NMPC 公式的功率损耗项对结果的重要性；3) NMPC 在基准反馈和基于规则的控制器方面的有效性。