Differential Drive Based Cooperate Steering Control Strategy Considering Energy Efficiency for Multi-axle Distributed Vehicle

Yonghua Wu; Junqiu Li; Weichen Wang

doi:10.1007/978-981-99-1027-4_131

Differential Drive Based Cooperate Steering Control Strategy Considering Energy Efficiency for Multi-axle Distributed Vehicle

Yonghua Wu^*
, Junqiu Li
, Weichen Wang

^*Corresponding author for this work

School of Mechanical Engineering

Beijing Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

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.

Original language	English
Title of host publication	The Proceedings of the 5th International Conference on Energy Storage and Intelligent Vehicles, ICEIV 2022
Editors	Fengchun Sun, Qingxin Yang, Erik Dahlquist, Rui Xiong
Publisher	Springer Science and Business Media Deutschland GmbH
Pages	1256-1265
Number of pages	10
ISBN (Print)	9789819910267
DOIs	https://doi.org/10.1007/978-981-99-1027-4_131
Publication status	Published - 2023
Event	5th International Conference on Energy Storage and Intelligent Vehicles, ICEIV 2022 - Virtual, Online Duration: 3 Dec 2022 → 4 Dec 2022

Publication series

Name	Lecture Notes in Electrical Engineering
Volume	1016 LNEE
ISSN (Print)	1876-1100
ISSN (Electronic)	1876-1119

Conference

Conference	5th International Conference on Energy Storage and Intelligent Vehicles, ICEIV 2022
City	Virtual, Online
Period	3/12/22 → 4/12/22

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 7 Affordable and Clean Energy

Keywords

Cooperate steering control
Differential drive steer
Distributed vehicle
Model predictive control

Access to Document

10.1007/978-981-99-1027-4_131

Cite this

Wu, Y., Li, J., & Wang, W. (2023). Differential Drive Based Cooperate Steering Control Strategy Considering Energy Efficiency for Multi-axle Distributed Vehicle. In F. Sun, Q. Yang, E. Dahlquist, & R. Xiong (Eds.), The Proceedings of the 5th International Conference on Energy Storage and Intelligent Vehicles, ICEIV 2022 (pp. 1256-1265). (Lecture Notes in Electrical Engineering; Vol. 1016 LNEE). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-981-99-1027-4_131

Wu, Yonghua ; Li, Junqiu ; Wang, Weichen. / Differential Drive Based Cooperate Steering Control Strategy Considering Energy Efficiency for Multi-axle Distributed Vehicle. The Proceedings of the 5th International Conference on Energy Storage and Intelligent Vehicles, ICEIV 2022. editor / Fengchun Sun ; Qingxin Yang ; Erik Dahlquist ; Rui Xiong. Springer Science and Business Media Deutschland GmbH, 2023. pp. 1256-1265 (Lecture Notes in Electrical Engineering).

@inproceedings{2b2b186008324e2e97758da5d0ff5b78,

title = "Differential Drive Based Cooperate Steering Control Strategy Considering Energy Efficiency for Multi-axle Distributed Vehicle",

abstract = "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.",

keywords = "Cooperate steering control, Differential drive steer, Distributed vehicle, Model predictive control",

author = "Yonghua Wu and Junqiu Li and Weichen Wang",

note = "Publisher Copyright: {\textcopyright} 2023, Beijing Paike Culture Commu. Co., Ltd.; 5th International Conference on Energy Storage and Intelligent Vehicles, ICEIV 2022 ; Conference date: 03-12-2022 Through 04-12-2022",

year = "2023",

doi = "10.1007/978-981-99-1027-4\_131",

language = "English",

isbn = "9789819910267",

series = "Lecture Notes in Electrical Engineering",

publisher = "Springer Science and Business Media Deutschland GmbH",

pages = "1256--1265",

editor = "Fengchun Sun and Qingxin Yang and Erik Dahlquist and Rui Xiong",

booktitle = "The Proceedings of the 5th International Conference on Energy Storage and Intelligent Vehicles, ICEIV 2022",

address = "Germany",

}

Wu, Y, Li, J & Wang, W 2023, Differential Drive Based Cooperate Steering Control Strategy Considering Energy Efficiency for Multi-axle Distributed Vehicle. in F Sun, Q Yang, E Dahlquist & R Xiong (eds), The Proceedings of the 5th International Conference on Energy Storage and Intelligent Vehicles, ICEIV 2022. Lecture Notes in Electrical Engineering, vol. 1016 LNEE, Springer Science and Business Media Deutschland GmbH, pp. 1256-1265, 5th International Conference on Energy Storage and Intelligent Vehicles, ICEIV 2022, Virtual, Online, 3/12/22. https://doi.org/10.1007/978-981-99-1027-4_131

Differential Drive Based Cooperate Steering Control Strategy Considering Energy Efficiency for Multi-axle Distributed Vehicle. / Wu, Yonghua; Li, Junqiu; Wang, Weichen.
The Proceedings of the 5th International Conference on Energy Storage and Intelligent Vehicles, ICEIV 2022. ed. / Fengchun Sun; Qingxin Yang; Erik Dahlquist; Rui Xiong. Springer Science and Business Media Deutschland GmbH, 2023. p. 1256-1265 (Lecture Notes in Electrical Engineering; Vol. 1016 LNEE).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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

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

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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 -

Wu Y, Li J, Wang W. Differential Drive Based Cooperate Steering Control Strategy Considering Energy Efficiency for Multi-axle Distributed Vehicle. In Sun F, Yang Q, Dahlquist E, Xiong R, editors, The Proceedings of the 5th International Conference on Energy Storage and Intelligent Vehicles, ICEIV 2022. Springer Science and Business Media Deutschland GmbH. 2023. p. 1256-1265. (Lecture Notes in Electrical Engineering). doi: 10.1007/978-981-99-1027-4_131

Differential Drive Based Cooperate Steering Control Strategy Considering Energy Efficiency for Multi-axle Distributed Vehicle

Abstract

Publication series

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UN SDGs

Keywords

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