NDLI: Model predictive control for integrated longitudinal and lateral stability of electric vehicles with in-wheel motors

Content Provider	IET Digital Library
Author	Zhang, Lin Chen, Hong Huang, Yanjun Guo, Hongyan Sun, Haobo Ding, Haitao Wang, Nian
Abstract	This study investigates an integrated wheel slip, yaw rate, and sideslip angle control via torque vectoring to improve both the longitudinal and lateral stability of electric vehicles (EVs) with four in-wheel motors. The algorithm is developed based on model predictive control (MPC) and thus can optimally reach a balance among different objectives while considering actuation and state constraints. Firstly, to deal with tyre non-linearity and variations in the lateral tyre forces due to changes in tyre slip ratios, the mechanism of using torque vectoring to improve vehicle stability is analysed. Then, a non-linear tyre model is introduced into the predictive model to characterise the tyre force coupling relationship. Here, a linear-parameter-varying (LPV) model is employed, which is derived by linearising the nonlinear vehicle model online. Moreover, the stability control of EVs with in-wheel motors is transformed into a constrained online optimisation problem and solved using the proposed LPV-MPC method. Finally, the proposed LPV-MPC is compared with some existing well-established techniques from literature in different test scenarios. The obtained results demonstrate that the LPV-MPC approach could reduce the computational burden and shows a precise longitudinal control and obviously improves the lateral stability.
Starting Page	2741
Ending Page	2751
Page Count	11
ISSN	17518644
Volume Number	14
e-ISSN	17518652
Issue Number	Issue 18, Dec (2020)
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/iet-cta/14/18
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/10.1049/iet-cta.2020.0122
Journal	IET Control Theory & Applications
Publisher Date	2020-08-06
Access Restriction	Open
Rights Holder	© The Institution of Engineering and Technology
Subject Keyword	Automotive Component Constrained Online Optimisation Problem Control Action Energy Consumption Control System Analysis Control System Synthesis Control Technology And Theory Electric Vehicle High Sampling Rates In-wheel Motors Integrated Wheel Slip Lateral Stability Lateral Tyre Forces Linear-parameter-varying Model Longitudinal Stability LPV-MPC Approach LPV-MPC Method Mechanical Component Mechanical Variables Control Model Predictive Control Motion Control Nonlinear Control System Nonlinear MPC Nonlinear Tyre Model Nonlinear Vehicle Model Online Optimal Control Optimisation Technique Precise Longitudinal Control Predictive Control Predictive Model Road Traffic System Control Road Vehicle Sideslip Angle Control Spatial Variables Control Stability Stability Control Stability in Control Theory State Constraint Steering System Study Approximative Scheme Synthesis Method Torque Control Torque Vectoring Control Transfer Function Transportation Tyre Force Coupling Relationship Tyre Nonlinearity Tyre Slip Ratios Tyres Vehicle Dynamics Vehicle Mechanics Vehicle Stability Wheels Yaw Rate
Content Type	Text
Resource Type	Article
Subject	Control and Optimization Control and Systems Engineering Human-Computer Interaction Electrical and Electronic Engineering Computer Science Applications

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