Co-Design Based Lateral Motion Control of All-Wheel-Independent-Drive Electric Vehicles with Network Congestion
AbstractAll-wheel-independent-drive electric vehicles (AWID-EVs) have considerable advantages in terms of energy optimization, drivability and driving safety due to the remarkable actuation flexibility of electric motors. However, in their current implementations, various real-time data in the vehicle control system are exchanged via a controller area network (CAN), which causes network congestion and network-induced delays. These problems could lead to systemic instability and make the system integration difficult. The goal of this paper is to provide a design methodology that can cope with all these challenges for the lateral motion control of AWID-EVs. Firstly, a continuous-time model of an AWID-EV is derived. Then an expression for determining upper and lower bounds on the delays caused by CAN is presented and with which a discrete-time model of the closed-loop CAN system is derived. An expression on the bandwidth utilization is introduced as well. Thirdly, a co-design based scheme combining a period-dependent linear quadratic regulator (LQR) and a dynamic period scheduler is designed for the resulting model and the stability criterion is also derived. The results of simulations and hard-in-loop (HIL) experiments show that the proposed methodology can effectively guarantee the stability of the vehicle lateral motion control while obviously declining the network congestion. View Full-Text
Scifeed alert for new publicationsNever miss any articles matching your research from any publisher
- Get alerts for new papers matching your research
- Find out the new papers from selected authors
- Updated daily for 49'000+ journals and 6000+ publishers
- Define your Scifeed now
Cao, W.; Liu, H.; Lin, C.; Chang, Y.; Liu, Z.; Szumanowski, A. Co-Design Based Lateral Motion Control of All-Wheel-Independent-Drive Electric Vehicles with Network Congestion. Energies 2017, 10, 1641.
Cao W, Liu H, Lin C, Chang Y, Liu Z, Szumanowski A. Co-Design Based Lateral Motion Control of All-Wheel-Independent-Drive Electric Vehicles with Network Congestion. Energies. 2017; 10(10):1641.Chicago/Turabian Style
Cao, Wanke; Liu, Helin; Lin, Cheng; Chang, Yuhua; Liu, Zhiyin; Szumanowski, Antoni. 2017. "Co-Design Based Lateral Motion Control of All-Wheel-Independent-Drive Electric Vehicles with Network Congestion." Energies 10, no. 10: 1641.
Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.