期刊
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
卷 22, 期 4, 页码 1362-1373出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TCST.2013.2287560
关键词
Adaptive; electric vehicle; energy-efficient control allocation (EECA); in-wheel/hub motor; over-actuated systems
资金
- Office of Naval Research [N00014-09-1-1018]
- Honda-OSU Partnership Program
- OSU Transportation Research Endowment Program
- U.S. Department of Energy Graduate Automotive Technology Education Center of Excellence [DE-FG2605NT42616]
A hierarchical control structure, consisting of a high-level dynamic sliding mode control (SMC) and a low-level adaptive energy-efficient control allocation (A-EECA) scheme, is presented to track the planar motions of an electric ground vehicle with four in-wheel motors while achieving the optimal energy consumption. By explicitly incorporating the efficiency functions and input constraints of in-wheel motors in the low-level A-EECA design, virtual control signals from the high-level dynamic SMC are distributed to four actuators with an adaptive convergence to the energy-optimal operating points. Taking allocation errors between the virtual control efforts and the real actuation realizations as inputs, the input-to-state stability of the overall feedback system is proved. Both simulation and experimental results in different maneuvers are demonstrated to validate the control design. The high-level vehicle tracking performance, low-level torque distributions, and total energy consumptions in the test maneuvers are compared between the proposed A-EECA and a standard pseudoinverse control allocation without considering the power optimization.
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