This paper presented an optimal torque distribution scheme for the stability improvement of a distributed-driven electric vehicle (DEV). The nonlinear dynamics and tire model of the DEV are constructed. Moreover, the single-point preview optimal curvature model with the proportional-integral-derivative (PID) process is developed to simulate the driver's behavior. By using coordinated control and sliding mode control, a three-layer hierarchical control system was developed. In the upper level, the integral two degree-of-freedom (DOF) linear model is used to compute the equivalent yaw moment for vehicle stability. With the actuators' restrictions, the middle level solved the linear quadratic regulator (LQR) problem via a weighted least square (WLS) method to optimally distribute the wheel torque. In the lower level, a slip rate controller (SRC) was presented to reallocate the actual torques based on the sliding mode method. The simulation results show that the proposed scheme has high path-tracking accuracy and that vehicle stability under limited conditions is improved efficiently. Moreover, the safety under actuator failure is enhanced.
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September 2016
Research-Article
Optimal Torque Distribution for the Stability Improvement of a Four-Wheel Distributed-Driven Electric Vehicle Using Coordinated Control
Xizheng Zhang,
Xizheng Zhang
Hunan Institute of Engineering,
Fuxing Road, No. 88,
Xiangtan City, Hunan Province 411104, China
e-mails: z_x_z2000@163.com; zxz@hnie.edu.cn
Fuxing Road, No. 88,
Xiangtan City, Hunan Province 411104, China
e-mails: z_x_z2000@163.com; zxz@hnie.edu.cn
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Kexiang Wei,
Kexiang Wei
Hunan Institute of Engineering,
Fuxing Road, No. 88,
Xiangtan City, Hunan Province 411104, China
e-mail: kxwei@hnie.edu.cn
Fuxing Road, No. 88,
Xiangtan City, Hunan Province 411104, China
e-mail: kxwei@hnie.edu.cn
Search for other works by this author on:
Xiaofang Yuan,
Xiaofang Yuan
School of Electrical and Information Engineering,
Hunan University,
Lushan South Road,
Changsha City, Hunan Province 410082, China
e-mail: yuanxiaofang@hnu.edu.cn
Hunan University,
Lushan South Road,
Changsha City, Hunan Province 410082, China
e-mail: yuanxiaofang@hnu.edu.cn
Search for other works by this author on:
Yongqi Tang
Yongqi Tang
Hunan Institute of Engineering,
Fuxing Road, No. 88,
Xiangtan City, Hunan Province 411104, China
e-mail: 1003956839@qq.com
Fuxing Road, No. 88,
Xiangtan City, Hunan Province 411104, China
e-mail: 1003956839@qq.com
Search for other works by this author on:
Xizheng Zhang
Hunan Institute of Engineering,
Fuxing Road, No. 88,
Xiangtan City, Hunan Province 411104, China
e-mails: z_x_z2000@163.com; zxz@hnie.edu.cn
Fuxing Road, No. 88,
Xiangtan City, Hunan Province 411104, China
e-mails: z_x_z2000@163.com; zxz@hnie.edu.cn
Kexiang Wei
Hunan Institute of Engineering,
Fuxing Road, No. 88,
Xiangtan City, Hunan Province 411104, China
e-mail: kxwei@hnie.edu.cn
Fuxing Road, No. 88,
Xiangtan City, Hunan Province 411104, China
e-mail: kxwei@hnie.edu.cn
Xiaofang Yuan
School of Electrical and Information Engineering,
Hunan University,
Lushan South Road,
Changsha City, Hunan Province 410082, China
e-mail: yuanxiaofang@hnu.edu.cn
Hunan University,
Lushan South Road,
Changsha City, Hunan Province 410082, China
e-mail: yuanxiaofang@hnu.edu.cn
Yongqi Tang
Hunan Institute of Engineering,
Fuxing Road, No. 88,
Xiangtan City, Hunan Province 411104, China
e-mail: 1003956839@qq.com
Fuxing Road, No. 88,
Xiangtan City, Hunan Province 411104, China
e-mail: 1003956839@qq.com
Contributed by the Design Engineering Division of ASME for publication in the JOURNAL OF COMPUTATIONAL AND NONLINEAR DYNAMICS. Manuscript received June 21, 2015; final manuscript received February 28, 2016; published online May 12, 2016. Assoc. Editor: Sotirios Natsiavas.
J. Comput. Nonlinear Dynam. Sep 2016, 11(5): 051017 (11 pages)
Published Online: May 12, 2016
Article history
Received:
June 21, 2015
Revised:
February 28, 2016
Citation
Zhang, X., Wei, K., Yuan, X., and Tang, Y. (May 12, 2016). "Optimal Torque Distribution for the Stability Improvement of a Four-Wheel Distributed-Driven Electric Vehicle Using Coordinated Control." ASME. J. Comput. Nonlinear Dynam. September 2016; 11(5): 051017. https://doi.org/10.1115/1.4033004
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