Co-Design Based Lateral Motion Control of All-Wheel-Independent-Drive Electric Vehicles with Network Congestion

Wanke Cao, Helin Liu, Cheng Lin, Yuhua Chang, Zhiyin Liu and Antoni Szumanowski
Additional contact information
Wanke Cao: National Engineering Laboratory for Electric Vehicles and Collaborative Innovation Center of Electric Vehicles in Beijing, Beijing Institute of Technology (BIT), Beijing 100081, China
Helin Liu: National Engineering Laboratory for Electric Vehicles and Collaborative Innovation Center of Electric Vehicles in Beijing, Beijing Institute of Technology (BIT), Beijing 100081, China
Cheng Lin: National Engineering Laboratory for Electric Vehicles and Collaborative Innovation Center of Electric Vehicles in Beijing, Beijing Institute of Technology (BIT), Beijing 100081, China
Yuhua Chang: Department of Multisource Propulsion System, Faculty of Automotive and Construction Machinery Engineering, Warsaw University of Technology (WUT), 02-524 Warsaw, Poland
Zhiyin Liu: Department of Multisource Propulsion System, Faculty of Automotive and Construction Machinery Engineering, Warsaw University of Technology (WUT), 02-524 Warsaw, Poland
Antoni Szumanowski: Department of Multisource Propulsion System, Faculty of Automotive and Construction Machinery Engineering, Warsaw University of Technology (WUT), 02-524 Warsaw, Poland

Energies, 2017, vol. 10, issue 10, 1-16

Abstract: All-wheel-independent-drive electric vehicles (AWID-EVs) have considerable advantages in terms of energy optimization, drivability and driving safety due to the remarkable actuation flexibility of electric motors. However, in their current implementations, various real-time data in the vehicle control system are exchanged via a controller area network (CAN), which causes network congestion and network-induced delays. These problems could lead to systemic instability and make the system integration difficult. The goal of this paper is to provide a design methodology that can cope with all these challenges for the lateral motion control of AWID-EVs. Firstly, a continuous-time model of an AWID-EV is derived. Then an expression for determining upper and lower bounds on the delays caused by CAN is presented and with which a discrete-time model of the closed-loop CAN system is derived. An expression on the bandwidth utilization is introduced as well. Thirdly, a co-design based scheme combining a period-dependent linear quadratic regulator (LQR) and a dynamic period scheduler is designed for the resulting model and the stability criterion is also derived. The results of simulations and hard-in-loop (HIL) experiments show that the proposed methodology can effectively guarantee the stability of the vehicle lateral motion control while obviously declining the network congestion.

Keywords: all-wheel-independent-drive (AWID); lateral motion control; network congestion; co-design of scheduling and control; dynamic period scheduling (search for similar items in EconPapers)
JEL-codes: Q Q0 Q4 Q40 Q41 Q42 Q43 Q47 Q48 Q49 (search for similar items in EconPapers)
Date: 2017
References: View references in EconPapers View complete reference list from CitEc
Citations: View citations in EconPapers (3)

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