TY - GEN
T1 - Optimized torque allocation strategy on multi-wheel vehicles
AU - Liang, Hongjie
AU - Ma, Yue
AU - Zhi, Jinning
AU - Li, Yi
AU - Peng, Yifan
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/7/2
Y1 - 2017/7/2
N2 - Multi-wheel vehicles are extensively utilized in civil and military fields, since they are powerful in complex environment, originating from over-actuated multi-wheel driven system. It is necessary that the kinematics and dynamics of all wheels have to be coordinated controlled. In this paper, the optimized torque allocation strategy on skid steering multi-wheel vehicle driven by independent in-wheel motors has been proposed based on vehicle dynamical model and wheel torque distribution characteristics. Subsequently, weighting control allocation error and control energy as the optimization target, wheel torque control allocation was solved using quadratic programming method. Integrated with wheel slip control and actuator fault redundancy control schemes, the optimization algorithm is correspondingly implemented, which improved the dynamic performance and safety of steering vehicle. The effectiveness of wheel torque distribution strategy was validated in Matlab/Simulink which demonstrated that torque can be redistributed among the effective motors when one wheel motor fails.
AB - Multi-wheel vehicles are extensively utilized in civil and military fields, since they are powerful in complex environment, originating from over-actuated multi-wheel driven system. It is necessary that the kinematics and dynamics of all wheels have to be coordinated controlled. In this paper, the optimized torque allocation strategy on skid steering multi-wheel vehicle driven by independent in-wheel motors has been proposed based on vehicle dynamical model and wheel torque distribution characteristics. Subsequently, weighting control allocation error and control energy as the optimization target, wheel torque control allocation was solved using quadratic programming method. Integrated with wheel slip control and actuator fault redundancy control schemes, the optimization algorithm is correspondingly implemented, which improved the dynamic performance and safety of steering vehicle. The effectiveness of wheel torque distribution strategy was validated in Matlab/Simulink which demonstrated that torque can be redistributed among the effective motors when one wheel motor fails.
KW - QP
KW - control algorithm
KW - dynamic distribution
KW - torque optimization
UR - http://www.scopus.com/inward/record.url?scp=85050561416&partnerID=8YFLogxK
U2 - 10.1109/ICMIC.2017.8321567
DO - 10.1109/ICMIC.2017.8321567
M3 - Conference contribution
AN - SCOPUS:85050561416
T3 - Proceedings of 2017 9th International Conference On Modelling, Identification and Control, ICMIC 2017
SP - 815
EP - 820
BT - Proceedings of 2017 9th International Conference On Modelling, Identification and Control, ICMIC 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 9th International Conference on Modelling, Identification and Control, ICMIC 2017
Y2 - 10 July 2017 through 12 July 2017
ER -