Design of an Adaptive Distributed Drive Control Strategy for a Wheel-Side Rear-Drive Electric Bus
Abstract
:1. Introduction
2. Build Dynamics Models
2.1. Reference Model
2.2. Vehicle Model
3. Adaptive Distributed Drive Control System Design
3.1. Additional Yaw Moment Calculation Based on Fuzzy Controller
3.2. Additional Yaw Moment Calculation Based on an Adaptive Fuzzy Controller
3.3. Driving Torque Distribution
4. Hardware-in-the-Loop Test
4.1. Large Turning in a Low-Speed Driving Condition
4.2. Small Turning in a High-Speed Driving Condition
4.3. Slalom Test in a Medium-Speed Driving Condition
5. Conclusions
Author Contributions
Funding
Data Availability Statement
Conflicts of Interest
References
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Name of the Parameter | Reference Value | Unit | Purpose |
---|---|---|---|
Vehicle mass (m) | 12,800 | kg | Determine the mass of the vehicle |
Length × width × height | 12,000 × 2500 × 3150 | mm | Determine the length, width, and height of the vehicle |
Height of the center of mass (h) | 1200 | mm | Determine the center of mass of the vehicle |
Distance from the center of mass to the front axle (a) | 3240 | mm | |
Distance from the center of mass to the rear axle (b) | 1260 | mm | |
Wheelbase (L) | 4500 | mm | Determine wheelbase |
The front tire cornering stiffness | 119,283.4 | N/rad | Determine the vehicle front and rear wheel sideslip stiffness for the calculation of the sideslip force to pave the way |
The rear tire cornering stiffness | 225,781.4 | N/rad | |
Rear wheel pitch (W) | 1863 | mm | To calculate the yaw torque |
NB | NM | NS | ZO | PS | PM | PB | |
---|---|---|---|---|---|---|---|
NB | NVB | NVB | NVB | NB | NB | NM | NB |
NM | NB | NB | NB | NM | NM | NS | NS |
NS | NB | NM | NM | NM | NS | ZO | ZO |
ZO | NM | NM | NS | ZO | ZO | PS | PS |
PS | NM | NS | ZO | PS | PS | PM | PM |
PM | NS | ZO | PS | PM | PM | PB | PB |
PB | ZO | PS | PM | PB | PB | PVB | PVB |
Simulation Conditions | Without Control | Fuzzy Control | Adaptive Fuzzy Control |
---|---|---|---|
Maximum yaw rate (deg/s) | 15.21 | 14.51 | 14.25 |
Yaw rate deviation rate | 18% | 12% | 10% |
Simulation Conditions | Without Control | Fuzzy Control | Adaptive Fuzzy Control |
---|---|---|---|
Maximum yaw rate (deg/s) | 5.53 | 4.88 | 4.45 |
Maximum sideslip angle (deg) | 2.8 | 2.23 | 2.07 |
Yaw rate deviation rate | 42% | 35% | 23% |
Sideslip angle deviation rate | 58% | 25% | 16% |
Simulation Conditions | Without Control | Fuzzy Control | Adaptive Fuzzy Control |
---|---|---|---|
Maximum yaw rate (deg/s) | −20.1 | 13.51 | 11.51 |
Maximum sideslip angle (deg) | 10 | 4.1 | 2.6 |
Yaw rate deviation rate | 83% | 31% | 12% |
Sideslip angle deviation rate | 852% | 38% | 15% |
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Chen, H.; Wang, W.; Zhu, S.; Chen, S.; Gao, J.; Zhou, R.; Wei, W. Design of an Adaptive Distributed Drive Control Strategy for a Wheel-Side Rear-Drive Electric Bus. Electronics 2022, 11, 4223. https://doi.org/10.3390/electronics11244223
Chen H, Wang W, Zhu S, Chen S, Gao J, Zhou R, Wei W. Design of an Adaptive Distributed Drive Control Strategy for a Wheel-Side Rear-Drive Electric Bus. Electronics. 2022; 11(24):4223. https://doi.org/10.3390/electronics11244223
Chicago/Turabian StyleChen, Huipeng, Weiyang Wang, Shaopeng Zhu, Sen Chen, Jian Gao, Rougang Zhou, and Wei Wei. 2022. "Design of an Adaptive Distributed Drive Control Strategy for a Wheel-Side Rear-Drive Electric Bus" Electronics 11, no. 24: 4223. https://doi.org/10.3390/electronics11244223
APA StyleChen, H., Wang, W., Zhu, S., Chen, S., Gao, J., Zhou, R., & Wei, W. (2022). Design of an Adaptive Distributed Drive Control Strategy for a Wheel-Side Rear-Drive Electric Bus. Electronics, 11(24), 4223. https://doi.org/10.3390/electronics11244223