Coordinated Control Strategy for Drive Mode Switching of Double Rotor In-Wheel Motor Based on MPC and Control Allocation
Abstract
:1. Introduction
2. Structure and Drive Modes of the DRIWM
2.1. Structural Scheme
2.2. Drive Modes Analyses
- Single inner motor drive. In this mode, electromagnetic clutch I and electromagnetic clutch II are disengaged and engaged, respectively. As shown in Figure 3, the power of the inner motor is transferred to the wheel through the sun gear, the planet carrier and the output shaft. The inner motor can be regarded as a deceleration-driven in-wheel motor. It is mainly suitable for driving conditions with general torque demand, such as vehicle starting and low-speed driving.
- 2.
- Single outer motor drive. In this mode, electromagnetic clutch I and electromagnetic clutch II are engaged and disengaged, respectively. As shown in Figure 4, the power of the outer motor is transferred to the wheel through the planet carrier and the output shaft. The outer motor can be regarded as a direct drive in-wheel motor. It is mainly suitable for high-speed driving conditions.
- 3.
- Dual-motor coupling drive. In this mode, both electromagnetic clutch II and electromagnetic clutch I are engaged, the power flows of the inner and outer motors are shown in Figure 5. The driving torques of two motors are coupled at the planet carrier and then transferred to the wheel. It is mainly suitable for driving conditions with high torque demand, such as the vehicle climbing or acceleration at a low speed.
3. Dynamic Modeling of Drive Mode Switching Process of the DRIWM
3.1. Description of the Drive Mode Switching
3.2. Hybrid Dynamic Modeling of the Drive Mode Switching Process
3.2.1. Discrete Event Dynamic System
3.2.2. Continuous Variable Dynamic System
- 1.
- Single inner motor drive: electromagnetic clutch II is disengaged.
- 2.
- Engagement stage of electromagnetic clutch II: electromagnetic clutch II is in the engagement.
- 2.
- Dual-motor coupling drive: electromagnetic clutch II is locked.
3.3. Determination of the Mode Switching Rule
4. Torque Coordination Control Strategy for the Mode Switching Based on MPC and Control Allocation
4.1. Description of the Control Allocation Problem
4.2. Building of Reference Model
4.3. Design of Model Predictive Controller
4.4. Control Allocation Method
4.5. Stability Analysis of the Mode Switching Based on Lyapunov Method
5. Simulation Analysis
6. Experimental Verification
7. Conclusions
Author Contributions
Funding
Data Availability Statement
Conflicts of Interest
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Drive Mode | Inner Motor | Outer Motor | Electromagnetic Clutch I | Electromagnetic Clutch II |
---|---|---|---|---|
SIM | ● | ○ | ○ | ● |
SOM | ○ | ● | ● | ○ |
DMC | ● | ● | ● | ● |
Parameter | Value | |
---|---|---|
Inner Motor | Outer Motor | |
Rated power (kW) | 1 | 3.7 |
Rated speed (rpm) | 3000 | 960 |
Pole pairs number of permanent magnet | 2 | 4 |
Torque constant (Nm/A) | 1.729 | 5.001 |
Induced voltage constant (V/krpm) | 0.6271 | 0.581 |
Parameter | Simulation Results | Experimental Results |
---|---|---|
Impact degree (m/s3) | 2.87 | 4.31 |
Engagement time of clutch II (s) | 0.164 | 0.25 |
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Li, J.; Wang, J.; Liu, J.; Ren, C. Coordinated Control Strategy for Drive Mode Switching of Double Rotor In-Wheel Motor Based on MPC and Control Allocation. World Electr. Veh. J. 2023, 14, 132. https://doi.org/10.3390/wevj14050132
Li J, Wang J, Liu J, Ren C. Coordinated Control Strategy for Drive Mode Switching of Double Rotor In-Wheel Motor Based on MPC and Control Allocation. World Electric Vehicle Journal. 2023; 14(5):132. https://doi.org/10.3390/wevj14050132
Chicago/Turabian StyleLi, Junmin, Junchang Wang, Jianhao Liu, and Chongyang Ren. 2023. "Coordinated Control Strategy for Drive Mode Switching of Double Rotor In-Wheel Motor Based on MPC and Control Allocation" World Electric Vehicle Journal 14, no. 5: 132. https://doi.org/10.3390/wevj14050132
APA StyleLi, J., Wang, J., Liu, J., & Ren, C. (2023). Coordinated Control Strategy for Drive Mode Switching of Double Rotor In-Wheel Motor Based on MPC and Control Allocation. World Electric Vehicle Journal, 14(5), 132. https://doi.org/10.3390/wevj14050132