Research on the Stability Control Strategy of Distributed Electric Vehicles Based on Cooperative Reconfiguration Allocation
Abstract
:1. Introduction
2. Controller Structure Design
2.1. Vehicle Modeling
2.1.1. Vehicle Dynamics Model
2.1.2. Tire Model
2.1.3. Motor Model
2.2. Upper Controller
2.2.1. Predictive Model
2.2.2. Constrained Optimization Solution
2.3. Lower Controller
2.3.1. Optimize the Objective Function
2.3.2. Tire Force Constraint
2.3.3. Calculated Wheel Angle
2.3.4. Failure Mode Control Strategy
3. Simulation and Analysis
3.1. Double Wheel Failure on a Straight Road
3.2. Single-Wheel Fail-in-Step Steering
3.3. Double Wheel Failure in Sine Steering
4. HIL Verification and Analysis
5. Conclusions
Author Contributions
Funding
Data Availability Statement
Conflicts of Interest
References
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Failure Mode | Failure Constraints (Example) | Controllable or Not |
---|---|---|
A single drive motor failure | Controllable | |
Two diagonal drive motors failure | Controllable | |
Two coaxial drive motors failure | Controllable | |
Two ipsilateral drive motors failure | Uncontrollable | |
Three drive motors failure | Uncontrollable | |
Four drive motors failure | Uncontrollable |
Vehicle Parameters | Values |
---|---|
Vehicle mass | 870 |
Distance from front axle to center of mass | 1.013 |
Distance from rear axle to center of mass | 0.702 |
Centroid height | 0.51 |
Moment of inertia | 617 |
Wheel pitch | 1.3 |
Wheel radius | 0.302 |
Peak power | 6900 |
Rated power | 4700 |
Maximum speed | 1055 |
Rated speed | 440 |
Peak torque | 150 |
Time constant | 0.01 |
Road adhesion coefficient | 0.8 |
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Ou, J.; Yan, D.; Zhang, Y.; Yang, E.; Huang, D. Research on the Stability Control Strategy of Distributed Electric Vehicles Based on Cooperative Reconfiguration Allocation. World Electr. Veh. J. 2023, 14, 31. https://doi.org/10.3390/wevj14020031
Ou J, Yan D, Zhang Y, Yang E, Huang D. Research on the Stability Control Strategy of Distributed Electric Vehicles Based on Cooperative Reconfiguration Allocation. World Electric Vehicle Journal. 2023; 14(2):31. https://doi.org/10.3390/wevj14020031
Chicago/Turabian StyleOu, Jian, Dehai Yan, Yong Zhang, Echuan Yang, and Dong Huang. 2023. "Research on the Stability Control Strategy of Distributed Electric Vehicles Based on Cooperative Reconfiguration Allocation" World Electric Vehicle Journal 14, no. 2: 31. https://doi.org/10.3390/wevj14020031