Coordinated Slip Control of Multi-Axle Distributed Drive Vehicle Based on HLQR

Yutong Bao, Changqing Du, Dongmei Wu (), Huan Liu, Wei Liu and Jun Li
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Yutong Bao: Hubei Key Laboratory of Advanced Technology for Automotive Components, Wuhan University of Technology, Wuhan 430070, China
Changqing Du: Hubei Key Laboratory of Advanced Technology for Automotive Components, Wuhan University of Technology, Wuhan 430070, China
Dongmei Wu: Hubei Key Laboratory of Advanced Technology for Automotive Components, Wuhan University of Technology, Wuhan 430070, China
Huan Liu: Hubei Key Laboratory of Advanced Technology for Automotive Components, Wuhan University of Technology, Wuhan 430070, China
Wei Liu: School of Electrical and Computer Engineering, Purdue University, West Lafayette, IN 47907, USA
Jun Li: Tsinghua Intelligent Vehicle Design and Safety Research Institute, Tsinghua University, Beijing 100084, China

Mathematics, 2023, vol. 11, issue 8, 1-18

Abstract: For multi-axle distributed drive (MADD) vehicles, the complexity of the longitudinal dynamics control system increases with the number of driven wheels, which presents a huge challenge to control the multi-motor drive vehicle with more than four wheels. To reduce the control system complexity, this paper proposes a coordinated slip control algorithm using the hierarchical linear quadratic regulator (HLQR) scheme for a 12 × 12 MADD vehicle. The 12-wheel driving system is decoupled based on the wheel load and simplified to a double local subsystem. First, the 12 × 12 MADD vehicle dynamics model is established. Then, the optimal slip ratio is obtained on the basis of the road friction coefficient estimation through a fuzzy control algorithm when the wheel slips. Afterwards, the wheel slip ratio is controlled based on the HLQR program for anti-slip regulation. Furthermore, the driving torque control allocation based on quadratic programming (QR) is coordinated with the anti-slip control. Simulink results show that the proposed coordinated slip control based on HLQR can improve slip control accuracy by more than 30% and greatly reduce the calculation load. The torque control allocation is also limited by the slip control results to ensure wheel dynamic stability and smoothly satisfy the driver’s demand.

Keywords: distributed drive; multi-axle vehicle; slip ratio control; hierarchical linear quadratic regulator; torque distribution (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2023
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