Modeling, Simulation, and Development of Stability Control Strategy for Integrated Wheel Vehicles
Mustafa Shawki Rawash Ali;
Abstract
In this thesis, a Model Predictive Control (MPC) based stability control system was developed for integrated wheel vehicles. The control system developed offers the advantage of being applicable to vehicles with different parameters or of any drive configuration, whether its front-wheel-drive, rear-wheel-drive, or 4-wheel-drive, without the need for retuning controller parameters or with minimal tuning.
Integrated wheel vehicles are vehicle with in-wheel electric motors or electric vehicles with independently driven wheels. This type of vehicles is a platform for advanced motion dynamics and are considered over-actuated, hence a suitable type of control system is MPC, since it relies on a model for predicting future system states and outputs, and effectively applies the most suitable combination of control actions or inputs according to an objective function.
Due to the nonlinear nature of vehicle dynamics, linear time varying MPC was applied, based on its relatively lower computational cost with respect to nonlinear MPC or hybrid MPC. In linear time varying MPC, the system is linearized about the current operating point.
Tire slip ratio not only affects the longitudinal force developed in the tire contact patch, but also affects the tire’s capacity to develop lateral force needed for lateral stability. It was customary for stability control and slip control to be two separate systems, however, this compromises the optimality of the control actions demanded by any of both, since it would be later altered by the other. In this work, slip control was integrated into the control system by incorporating wheel dynamics into the prediction model and the controller works towards stabilizing the vehicle directional behavior and wheel slip together through the same objective function.
Another advantage of using MPC is that limits of capacity of all actuator could be considered when calculating the control actions, rather than being disregarded and clipped, which causes system oscillations and compromises
Integrated wheel vehicles are vehicle with in-wheel electric motors or electric vehicles with independently driven wheels. This type of vehicles is a platform for advanced motion dynamics and are considered over-actuated, hence a suitable type of control system is MPC, since it relies on a model for predicting future system states and outputs, and effectively applies the most suitable combination of control actions or inputs according to an objective function.
Due to the nonlinear nature of vehicle dynamics, linear time varying MPC was applied, based on its relatively lower computational cost with respect to nonlinear MPC or hybrid MPC. In linear time varying MPC, the system is linearized about the current operating point.
Tire slip ratio not only affects the longitudinal force developed in the tire contact patch, but also affects the tire’s capacity to develop lateral force needed for lateral stability. It was customary for stability control and slip control to be two separate systems, however, this compromises the optimality of the control actions demanded by any of both, since it would be later altered by the other. In this work, slip control was integrated into the control system by incorporating wheel dynamics into the prediction model and the controller works towards stabilizing the vehicle directional behavior and wheel slip together through the same objective function.
Another advantage of using MPC is that limits of capacity of all actuator could be considered when calculating the control actions, rather than being disregarded and clipped, which causes system oscillations and compromises
Other data
| Title | Modeling, Simulation, and Development of Stability Control Strategy for Integrated Wheel Vehicles | Other Titles | نمذجة و محاكاة و وضع استراتيجية للسيطرة علي ثبات السيارات ذات العجل المتكامل | Authors | Mustafa Shawki Rawash Ali | Issue Date | 2020 |
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