This paper aims at investigating powertrain behaviour, especially in transient dynamic responses, using a nonlinear truck vehicle dynamic model with a parallel hybrid configuration. A power split control was designed to achieve the desired drivabilit...
Four-wheel electromechanical braking (EMB) systems may receive nominal brake torque commands that exceed transient actuator capability under low-voltage supply or degradation. This study proposes a brake torque allocation method based on wheel-end dy...
Distributed-drive electric vehicles (DDEVs) enable independent wheel-torque control, providing flexibility to improve energy efficiency and vehicle stability. However, tire–road adhesion, motor and battery capabilities, and actuator availabilit...
The dual-rotor in-wheel motor (DRIWM) drive electric vehicle has multiple braking modes. Determining how to select the most suitable braking mode for the current driving conditions and dynamically allocate the regenerative braking torque of the inner...
This paper takes the dual-motor pure electric mining dump truck as the research object and designs a dual-motor rear-drive torque optimization allocation strategy in view of the problems such as the large load variation of the dump truck and the fact...
Distributed-drive electric vehicles can coordinate active front steering (AFS) and direct yaw-moment control (DYC) to regulate lateral and yaw responses. This study develops a hierarchical AFS–DYC framework with a unified physical interface and...
All-wheel drive is an important technical direction for the future development of pure electric vehicles. The difference in the efficiency distribution of the shaft motor caused by the optimal load matching and motor manufacturing process, the tradit...
To improve the anti-slip performance and energy-efficient torque coordination of four-wheel-drive articulated tractors operating in hilly and mountainous terrains, this study proposes an integrated control framework that combines a 7-DOF tractor dyna...
This study investigates a control strategy for torque vectoring (TV) and active rear wheel steering (RWS) using feedforward and feedback control schemes for different circumstances. A comprehensive vehicle and combined slip tire model are used to det...
The wheel driving torque on four-wheel-drive electric vehicles (4WDEVs) can be modulated precisely and continuously, therefore maneuverability and energy-saving control can be carried out at the same time. In this paper, a wheel torque distribution s...
Torque vectoring is a widely known technique to improve vehicle handling and to increase stability in limit conditions. With the advent of electric vehicles, this is becoming a key topic since it is possible to have distributed powertrains, i.e., mul...
The availability of the propulsion system is of primary importance to ensure safe and stable operations of marine crafts, both during transit and station keeping. Diminished propulsion efficiency could impair the ability of a vessel to maintain speed...
Unstructured off-road environments with complex terrain obstacles and pavement properties bring obvious challenges for special purpose autonomous vehicle control. A cascade direct yaw moment control strategy (CDYC), which contains a main loop and a s...
In electric vehicles with multiple motors, the torque at each wheel can be controlled independently, offering significant opportunities for enhancing vehicle dynamics behaviour and system efficiency. This paper investigates energy efficient torque di...
A path tracking controller based on front wheel steering angle and additional yaw moment control is designed to achieve safe obstacle avoidance of distributed drive electric vehicles. Using sixth-degree polynomial at a given time with anti-collision...
In this study, a hierarchical chassis control strategy is designed to enhance vehicle economy and safety for four-wheel independent-drive electric vehicles (FWID-EVs). In the upper-level, a vehicle dynamics model based on multiple agents is proposed,...
This review addresses the pivotal challenge in distributed-drive electric vehicle (DDEV) dynamics control: how to optimally distribute braking and steering forces during combined maneuvers to simultaneously enhance lateral stability, safety, and ener...
The inherent static instability of bicycles poses significant safety risks, driving research into active stabilization systems within the broader field of autonomous vehicle control. This study proposes a Variable-Speed Control Moment Gyroscope (VSCM...
This paper presents a novel torque vectoring control (TVC) method for four in-wheel-motor independent-drive electric vehicles that considers both energy-saving and safety performance using deep reinforcement learning (RL). Firstly, the tire model is...
Aiming at the existing single-motor agricultural tractors, which often have a mismatch between power and working conditions and a poor operation effect under different tillage modes, this paper designs a torque allocation strategy for agricultural el...
This paper presents an integrated optimization framework of sizing and energy management for four-wheel-independently-actuated electric vehicles. The optimization framework consists of an inner and an outer layer that are responsible for energy manag...
This paper introduces a direct predictive torque control (DPTC) method to minimize the torque ripple and copper loss of the switched reluctance motor (SRM). Generally, there is a problem with torque ripple during the SRM’s commutation. In this...
For human–machine collaborative driving conditions, a hierarchical chassis multi-objective cooperative control method is proposed in this paper. Firstly, based on the phase plane theory, vehicle dynamics analysis is carried out to complete the...
A wind farm composed of doubly-fed wind turbines (DFWTs) based on the virtual synchronous generator (DFWTs-VSG) control strategy exacerbates the fatigue load on the main shaft of the DFWT-VSGs in the wind farm when responding to the frequency variati...
Controllability, maneuverability, fault-tolerance/isolation and safety are significantly enhanced in electric vehicles (EV) equipped with the redundant actuator configuration of four-in-wheel electric motors (4IWM). A highly reconfigurable architectu...
Wheel-actuator failure can compromise the trajectory-tracking capability of omnidirectional mobile robots, potentially interrupting material transport in automated warehouses. This study investigates control allocation reconfiguration to maintain tra...
Torque distribution control is a key technique for four-wheel independent-drive electric vehicles because it significantly affects vehicle stability and handling performance, especially under extreme driving conditions. This paper, which focuses on t...
In this paper, an online energy-saving control allocation strategy based on self-updating loss estimation for multi-motor drive systems is proposed, where the impact of variations in motor parameters and distribution coefficients is considered. First...
In order to further reduce the torque, flux-linkage fluctuation, and current harmonic content of dual three-phase permanent magnet synchronous motors, this paper proposes a direct torque control strategy combined with a master–slave virtual vec...
Direct yaw moment control (DYC) and differential drive-assist steering (DDAS) for distributed-drive vehicles are both realized by allocating the in-wheel motor torque. To address the interference caused by overlapping control objectives, this paper p...
To simultaneously track the ideal slip rate and realize ideal energy recovery efficiency under different complex road conditions, an electro-hydraulic compound anti-lock braking system based on interval type-2 fuzzy logic control strategy and its cor...
This paper proposes a robust control allocation for the capture control of the space inertial sensor’s test mass under overcritical conditions. Uncertainty factors of the test mass control system under the overcritical condition are analyzed fi...
High penetration of wind power increases the need for coordinated frequency support from wind farms and battery energy storage systems (BESSs). To address insufficient power coordination, state-of-charge (SOC) deviation, and suboptimal intra-farm all...
To improve the trackability of in-wheel motor drive (IWMD) and wheel-individual steer electric vehicles (EVs) when steering actuators fail, the fail-operation control strategy was proposed to correct vehicles in a steering failure situation and avoid...
Four-wheel-drive electric vehicles equipped with independently controllable driving, braking, and steering actuators provide additional degrees of freedom for reducing electric-machine and tire-loss energy. This paper presents a real-time longitudina...
This paper presents a coordinated control strategy for an electro-hydraulic composite braking system in in-wheel motor electric vehicles to enhance regenerative energy recovery and braking safety. A novel hydraulic control unit (HCU) without a pressu...
Reluctance Magnetic Gears (RMGs) represent a cost-effective alternative to conventional magnetic gears, replacing the inner rotor permanent magnets with a toothed ferromagnetic rotor and adopting rectangular instead of arc-shaped magnets on the outer...
(1) Background: Customized 3D-printed anatomical healing abutments (AHAs) are increasingly incorporated into digital implant workflows to optimize emergence profile development. However, the influence of tightening torque on their mechanical stabilit...
Dual-motor electric drive axles (e-axles) can realize basic torque vectoring through motor-torque allocation. However, without an inter-wheel power-transfer path, they still face structural limitations under motor torque–speed envelopes and sev...
This research presents a hybrid geometric computed torque control method for an aerial manipulation system composed of a quadrotor UAV and a 2-DOF planar manipulator. The fully coupled system’s dynamic model is derived following the Euler&ndash...
Aiming at the problems of energy utilization efficiency and braking stability in electric vehicles, a high-efficiency and energy-saving control strategy that takes both driving and braking into account is proposed with the distributed hub motor-drive...
For multi-axle distributed drive (MADD) vehicles, the complexity of the longitudinal dynamics control system increases with the number of driven wheels, which presents a huge challenge to control the multi-motor drive vehicle with more than four whee...
Coordinating vehicle handling stability and energy consumption remains a key challenge for distributed driving electric vehicles (DDEVs). In this paper, a hierarchical torque vectoring control strategy is proposed to address this issue. First, a tire...
The problem of energy recovery in braking of an electric vehicle is solved here, which ensures high quality blended deceleration using electrical and friction brakes. A model reference controller is offered, capable to meet the conflicting requiremen...
Due to its flexibility and versatility, the electric distributed drive micro-tillage chassis can be used more often in the future in Intelligence agriculture scenarios. However, due to the complex working conditions of the agricultural operation envi...
Distributed-drive electric vehicles (DDEVs) improve braking stability through independent four-wheel braking torque control, yet their complex multi-brake systems are prone to braking faults that cause loss of longitudinal and yaw stability. This stu...
The dual-inverter open-winding permanent magnet synchronous motor (OW-PMSM) drive system exhibits significant advantages for electric vehicles with dual energy sources, particularly in achieving coordinated energy management and efficient power alloc...
30 August 2021
Maintaining muscle mass and function is important throughout the lifestyle. While environmental factors such as physical activity and healthy nutrition are well investigated, the contribution of genetic factors is still controversial. Therefore, we a...
Objectives: The present study compared two implants with different macrogeometries placed in healed alveolar sites, evaluating the insertion torque (ITV) and implant stability quotient (ISQ) values at three different periods. Methods: Seventy patient...
In recent years, tail-sitter unmanned aerial vehicles (UAVs), capable of vertical take-off and landing (VTOL) and long-range flight, have garnered extensive attention. However, the challenge of yaw control, particularly for large-scale UAVs, has beco...
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