A pulse‐and‐glide ‐driven adaptive cruise control system for electric vehicle

Overdriven factor in a vehicle motion is one of the issues that need to be tackled for safety and energy efficiencies, especially in the cornering track. This issue is crucial especially for rack steering vehicle with non-holonomic configuration, whereby inertia will contribute to high collisions to the peer walls or offroad incidents. Therefore this study has taken the initiative to propose a dynamic control technique that considers the interaction between the vehicle and the terrain using impedance control. This control technique allows coping with the issue by indirectly shaping inertia forces. The proposed impedance control is derived by handling the vehicle dynamic developed and shaping the vehicle steering angle. For the study purposes, a rack steering four wheels vehicle (RT4WV) is used as a platform, and its dynamic model was derived for analysis. The implementation of torque feedback based impedance control for inertia shaping is emphasized on both vertical (x axis) and horizontal (y axis) of the vehicle body, during which inertia could happen. The kinodynamic input for the system control input is the difference between steering angular changes in which representing front wheel angular changes. This proposed dynamic control strategy is verified by simulating the derived impedance control on RT4WV system model with road terrain and aerodynamic frictions as disturbances. The result shows that the proposed impedance control able to reduce the inertia forces via shaping the steering angular input to the vehicle although there have both road terrain and aerodynamic frictions, especially in cornering tracks.

Impedance control on rack steering vehicle for inertia shaping on cornering track

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Parameter Optimization and Multi-Mode Operation of a Novel Dual-Motor Coupling Torque Vectoring Drive System for Electric Vehicles

The paper presents a dynamic control approach using impedance control to reduce inertia factors acting on a Mecanum Wheeled Vehicle (MWV) on cornering roads. Inertia in a mobile vehicle is one of the issues that affect the safety and energy efficiencies of the vehicle, especially when maneuvering on cornering and confined paths. With reference to the problem statements in the dynamics analyses, velocity-based impedance control was proposed where the derived interaction translational forces on the vehicle that consider friction and touching forces on vehicle-terrain are controlled through the velocities of the vehicle. This study emphasized shaping the axial velocities input of the MWV for both longitudinal and latitude motions to control the sensitivity of the vehicle during cornering periods. The verification was done through several simulations on the proposed velocity-based impedance control on the MWV plant. The results show that the different forces on MWV axial motion were capable of reducing inertia via velocity input during the cornering period of maneuvering by increasing the stiffness and damping ratio of the controller at about 2 and 9 for stiffness x-axis and y-axis, respectively, and 15 and 10 for damping ration of the x-axis and y-axis respectively. Moreover, with the proposed controller, inertia on MWV can be controlled on the slippery road such as asphalt roads. This scenario has influenced the overall kinetic energy of the vehicle down to about 26%, thus, able to control the overdriven occurred on cornering road.

Inertia Reduction using Interaction Control Approach for Mecanum Wheeled Vehicle on Cornering Road

According to the characteristic that each wheel torque of 4WD electric vehicle is independent controllable, the control allocation method with a hierarchical structure is adopted to improve the handling stability of the vehicle by optimizing the distribution of motor torque The controller is composed of an upper controller and a lower controller Taking the vehicle sideslip angle and yaw rate as the state variables, the upper controller can calculate the desired generalized force of longitudinal force and yaw moment for vehicle stability by using the 2-DOF reference model Through the weighted least square algorithm, the lower controller is used to determine the torque properly allocated to each wheel according to the desired yaw moment Several actuator constraints are considered in the control strategy In addition, a nonlinear tire model is utilized to improve the accuracy of tire lateral force estimation The vehicle model and control system models are established and a simulation test is carried out The simulation results show that the control system proposed can effectively improve the handling stability of the vehicle

Optimal torque distribution for four-wheel-motored electric vehicle stability enhancement

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Optimal torque distribution for four-wheel-motored electric vehicle stability enhancement