TY - GEN
T1 - Differential Drive Based Cooperate Steering Control Strategy Considering Energy Efficiency for Multi-axle Distributed Vehicle
AU - Wu, Yonghua
AU - Li, Junqiu
AU - Wang, Weichen
N1 - Publisher Copyright:
© 2023, Beijing Paike Culture Commu. Co., Ltd.
PY - 2023
Y1 - 2023
N2 - This chapter presents a differential drive based cooperate steering control strategy considering energy efficiency for multi-axle distributed drive vehicle. Apart from used as a fault-tolerant control method of Steer-by-Wire (SBW) system to keep stability and performance of the vehicle, the differential drive steer (DDS) can also be combined with SBW by reasonable torque allocation with considering the efficiency distribution of drive motors during normal driving. Firstly, the dynamic models of multi-axle vehicle including the front SBW system are established. Then, the upper layer path follow controller is designed based on model predictive control (MPC) with measurable disturbance to obtain the generalized steer torque. According the drive motor efficiency map, the lower layer steer axles optimal torque allocation strategy is proposed to balance the contribution of SBW motor torque and differential torque. Finally, the strategy is validated through close-loop simulation in MATLAB/Simulink. The result shows that the proposed strategy can adaptively adjust differential torque of steer axles and SBW motor torque to track the target path with better energy efficiency.
AB - This chapter presents a differential drive based cooperate steering control strategy considering energy efficiency for multi-axle distributed drive vehicle. Apart from used as a fault-tolerant control method of Steer-by-Wire (SBW) system to keep stability and performance of the vehicle, the differential drive steer (DDS) can also be combined with SBW by reasonable torque allocation with considering the efficiency distribution of drive motors during normal driving. Firstly, the dynamic models of multi-axle vehicle including the front SBW system are established. Then, the upper layer path follow controller is designed based on model predictive control (MPC) with measurable disturbance to obtain the generalized steer torque. According the drive motor efficiency map, the lower layer steer axles optimal torque allocation strategy is proposed to balance the contribution of SBW motor torque and differential torque. Finally, the strategy is validated through close-loop simulation in MATLAB/Simulink. The result shows that the proposed strategy can adaptively adjust differential torque of steer axles and SBW motor torque to track the target path with better energy efficiency.
KW - Cooperate steering control
KW - Differential drive steer
KW - Distributed vehicle
KW - Model predictive control
UR - http://www.scopus.com/inward/record.url?scp=85161155627&partnerID=8YFLogxK
U2 - 10.1007/978-981-99-1027-4_131
DO - 10.1007/978-981-99-1027-4_131
M3 - Conference contribution
AN - SCOPUS:85161155627
SN - 9789819910267
T3 - Lecture Notes in Electrical Engineering
SP - 1256
EP - 1265
BT - The Proceedings of the 5th International Conference on Energy Storage and Intelligent Vehicles, ICEIV 2022
A2 - Sun, Fengchun
A2 - Yang, Qingxin
A2 - Dahlquist, Erik
A2 - Xiong, Rui
PB - Springer Science and Business Media Deutschland GmbH
T2 - 5th International Conference on Energy Storage and Intelligent Vehicles, ICEIV 2022
Y2 - 3 December 2022 through 4 December 2022
ER -
