TY - JOUR
T1 - Ride comfort control of in-wheel motor drive unmanned ground vehicles with energy regeneration
AU - Zhang, Lipeng
AU - Ren, Chenhui
AU - Yuan, Xinmao
AU - Zhang, Wei
N1 - Publisher Copyright:
© IMechE 2020.
PY - 2021/3
Y1 - 2021/3
N2 - Adopting in-wheel motor drive can improve vehicle dynamics control functions, which is the most ideal drive mode of unmanned ground vehicle. However, with the increase of the heavy unspring-mass vibration energy while the vehicle running on uneven road, the ride comfort will be seriously deteriorated. To solve the problem and save energy, the ride comfort control based on regenerative suspensions is adopted. By analyzing the vibration performance, the adverse effects of the vehicle equipped in-wheel motors with passive suspensions are revealed. Then, the dynamics model of the regenerative suspension is built. Based on the suspension power recovery, the multi-state optimal control strategy for improving the ride comfort is designed. Finally, comparing the simulation results of regenerative suspensions with the test results of passive suspensions, when the vehicle mass ratio decreases from 8:1 to 4:1, the body acceleration and the root mean square value of tire dynamic load increase by 28.1% and 31.6%, correspondingly. With the control method, the body acceleration is decreased by 23% and reaches the level of conventional vehicles. Furthermore, part of the vehicle vibration energy can be recovered and the vehicle driving range can be extended.
AB - Adopting in-wheel motor drive can improve vehicle dynamics control functions, which is the most ideal drive mode of unmanned ground vehicle. However, with the increase of the heavy unspring-mass vibration energy while the vehicle running on uneven road, the ride comfort will be seriously deteriorated. To solve the problem and save energy, the ride comfort control based on regenerative suspensions is adopted. By analyzing the vibration performance, the adverse effects of the vehicle equipped in-wheel motors with passive suspensions are revealed. Then, the dynamics model of the regenerative suspension is built. Based on the suspension power recovery, the multi-state optimal control strategy for improving the ride comfort is designed. Finally, comparing the simulation results of regenerative suspensions with the test results of passive suspensions, when the vehicle mass ratio decreases from 8:1 to 4:1, the body acceleration and the root mean square value of tire dynamic load increase by 28.1% and 31.6%, correspondingly. With the control method, the body acceleration is decreased by 23% and reaches the level of conventional vehicles. Furthermore, part of the vehicle vibration energy can be recovered and the vehicle driving range can be extended.
KW - Unmanned ground vehicle
KW - energy regeneration
KW - in-wheel motor drive
KW - regenerative suspension
KW - ride comfort
UR - http://www.scopus.com/inward/record.url?scp=85087730957&partnerID=8YFLogxK
U2 - 10.1177/0954407020933364
DO - 10.1177/0954407020933364
M3 - Article
AN - SCOPUS:85087730957
SN - 0954-4070
VL - 235
SP - 1057
EP - 1069
JO - Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering
JF - Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering
IS - 4
ER -