Co-Design Based Lateral Motion Control of All-Wheel-Independent-Drive Electric Vehicles with Network Congestion
Abstract
:1. Introduction
2. Problem Formulation
2.1. A Networked Control Architecture for the Vehicle Lateral Motion Control
2.2. Control-Orient Model of AWID-EVs with DYC
2.3. Vehicle Model with CAN-Induced Delays
2.4. The Network Utilization of CAN
3. Control Syntheses
3.1. Period-Dependent LQR Controller Design
3.2. Fuzzy-Based Dynamic Sampling Period Scheduler Design
4. Simulation Results
4.1. Double-Step Steering Maneuver
4.2. Double-Lane-Changing Steering Maneuver
5. Test Results
6. Conclusions
Acknowledgments
Author Contributions
Conflicts of Interest
References
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Symbol | Descriptions |
---|---|
NB | Negative Big |
NS | Negative Small |
ZE | Zero |
PS | Positive Small |
PB | Positive Big |
Δe | ||||||
---|---|---|---|---|---|---|
NB | NS | ZE | PS | PB | ||
e | NB | T1 | T1 | T2 | T1 | T1 |
NS | T1 | T2 | T3 | T2 | T1 | |
ZE | T2 | T3 | T4 | T3 | T2 | |
PS | T1 | T2 | T3 | T2 | T1 | |
PB | T1 | T1 | T2 | T1 | T1 |
Parameter | Description | Quantity |
---|---|---|
m | Vehicle mass | 1350 kg |
IZ | Yaw moment of inertia | 1975 kg·m2 |
lf | Front semi-wheelbase | 1.085 m |
lr | Rear semi-wheelbase | 1.386 m |
cf | Cornering stiffness of front tires | 58,000 N/rad |
cr | Cornering stiffness of Rear tires | 60,000 N/rad |
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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. https://doi.org/10.3390/en10101641
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. https://doi.org/10.3390/en10101641
Chicago/Turabian StyleCao, Wanke, Helin Liu, Cheng Lin, Yuhua Chang, Zhiyin Liu, and Antoni Szumanowski. 2017. "Co-Design Based Lateral Motion Control of All-Wheel-Independent-Drive Electric Vehicles with Network Congestion" Energies 10, no. 10: 1641. https://doi.org/10.3390/en10101641