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Energy Savings of a Four-Drive Electric Bus With Two Cascaded Smart Integrated Drives on Each Axle

IEEE TRANSACTIONS ON TRANSPORTATION ELECTRIFICATION 2025年第1期11卷 4145-4156页

作者： Li, Kaibo Bouscayrol, Alain Lhomme, Walter Lemaire-Semail, Betty Stockman, Kurt Brocart, Charles Univ Lille L2EP F-59655 Villeneuve Dascq France Univ Warwick Coventry CV4 7AL England Univ Ghent Dept Electromech Syst & Met Engn B-9052 Ghent Belgium Metropole Europeenne Lille MEL F-59040 Lille France

Multidrive systems are explored as a replacement for single-drive setups in automotive applications. By allowing the selection of one or several drives based on the vehicle operation, a reduction in energy consumption is expected. This article proposes a four-drive traction topology for an urban electric bus, featuring two smart integrated drives in cascade on both driven axles. A single-drive-based electric bus with a validated model serves as a reference. The four-drive system is then incorporated into this e-bus. Energetic macroscopic representation (EMR) is employed to organize the model and control both bus topologies. An optimal energy management strategy is devised to minimize energy consumption. The four-drive electric bus achieves a reduction in energy consumption of up to 32% for various urban bus driving cycles. This energy saving is attributed to increased braking energy recovery and an optimal distribution of electric drive torques. A sensitivity analysis on mass variation indicates that the proposed system remains efficient for e-bus applications, even with an increase in mass and volume.

关键词： Topology Axles Wheels Reliability Mathematical models Inverters Torque Electric machines electric vehicle energetic macroscopic representation (EMR) energy management road vehicle control

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Bifurcation in vehicle dynamics and robust front wheel steering control

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IEEE TRANSACTIONS ON control SYSTEMS TECHNOLOGY 1998年第3期6卷 412-420页

作者： Ono, E Hosoe, S Tuan, HD Doi, S Toyota Cent Res & Dev Labs Inc Syst Control Lab Aichi 4801192 Japan Nagoya Univ Dept Elect Mech Engn Nagoya Aichi 4648603 Japan Nagoya Univ Dept Elect Mech Engn Aichi 4801192 Japan Toyota Cent Res & Dev Labs Inc Human Engn Lab Aichi 4801192 Japan

A control strategy is proposed for designing a steering control for automotive vehicles to protect the vehicle from spin and to realize the improved cornering performance. The vehicle unstabilization is shown to be caused by a saddle-node bifurcation which depends heavily on a rear tire side force saturation. Based on this observation, the saturation characteristics of rear tires are modeled by a linear function with uncertainty terms of a special structure. The nonlinearity of the saturation is included in the part of uncertainty since it changes considerably due to road environments, whose rigorous identification is usually very difficult. Then a result from the linear H-infinity control theory seems to be appropriate to design a front wheel steering controller which compensates the instability against the nonlinear uncertainty, The designed controller is shown to work quite well for nonlinear systems in achieving robust stability and protecting the vehicle from spin. Furthermore, the computer simulations show that the control improves cornering performance in critical motions. The motion realized by the controller resembles the one known as a counter steering which skillful drivers often use.

关键词： H-infinity control road vehicle control robustness stability state feedback

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A Nonlinear Model-Predictive Contouring controller for Shared control Driving Assistance in High-Performance Scenarios

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IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS 2023年第1期53卷 204-215页

作者： Picotti, Enrico Bruschetta, Mattia Mion, Enrico Beghi, Alessandro Univ Padua Dept Informat Engn I-35131 Padua Italy Swiss Fed Inst Technol Inst Dynam Syst & Control CH-8092 Zurich Switzerland

An increasing number of vehicles today are equipped with advanced driver-assistance systems that provide humans involved in the driving tasks with continuous and active support. State-of-the-art implementations of these systems frequently rely on an underlying vehicle controller based on the model-predictive control strategy. In this article, we propose a nonlinear model-predictive contouring controller for a driving assistance system in high-performance scenarios. The design follows specific features to ensure the effectiveness of the interaction, namely, adaptability with respect to the current vehicle state, high-performance driving capabilities, and tunability of the assistance system. First, the control algorithm performance is evaluated offline and compared with a commercial lap-time minimizer, then experimental implementation of the assistance system with the human driver (HD) in the loop has been accomplished on a professional dynamic driving simulator, where an evaluation of the specific features has been performed: 1) a gg-bound is exploited to adapt the controller's behavior to different driver abilities;2) the controller's adaptability to unexpected HD behavior is tested;and 3) the controller's ability to handle the vehicle at the limit of maneuverability is established. The obtained strategy, then, demonstrates to be suitable as an underlying vehicle controller for a driver-assistance system on a racing track.

关键词： Load modeling Wheels vehicles Computational modeling Tires vehicle dynamics Predictive models Cooperative systems cybernetics predictive control road vehicle control

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Robust model-based fault detection for a roll stability control system

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IEEE TRANSACTIONS ON control SYSTEMS TECHNOLOGY 2007年第3期15卷 519-528页

作者： Xu, Li Tseng, H. Eric Ford Motor Co Res & Adv Engn Dearborn MI 48124 USA

Fault management is critical for a vehicle active safety system. Since a sensor fault may not always be detectable by a sensor self-test or an electronic monitoring system whose detection often relies on out-of-range signals, a redundancy check is warranted for the detection of an in-range signal fault. In this paper, an in-vehicle roll rate sensor failure detection scheme utilizing analytical redundancy is presented. The vehicle is assumed to be equipped with a steering wheel angle sensor, a yaw rate sensor, a lateral accelerometer, and wheel speed sensors in addition to the roll rate sensor. Due to the wide variation of vehicle dynamics under a vast operating range, such as various and dynamically changing road super-elevations and road grades, the detection of a roll rate signal fault using analytical redundancy is particularly challenging. These challenges, as well as the robustness and performance of the proposed scheme are discussed. The robust performance of the proposed scheme, over model uncertainties and road disturbances, is illustrated analytically and validated through experimental test data. The analytical illustrations include three elements: a robust estimation of the vehicle roll angle, a dynamic compensation of both electrical and kinematics-induced biases in, the roll rate signal, and a directionally sensitive design of a robust observer which decouples the model uncertainties and disturbances from the fault. The experimental verifications of no false positive and/or no false negative were taken with a variety of maneuvers and road conditions on several vehicle test platforms.

关键词： electronic stability control fault diagnosis road vehicle control sensor error compensation state estimation

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Wheel torque proportioning, rear steering, and normal force control: A structural investigation

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IEEE TRANSACTIONS ON AUTOMATIC control 1997年第6期42卷 803-818页

作者： Unyelioglu, KA Ozguner, U Hissong, T Winkelman, J OHIO STATE UNIV DEPT ELECT ENGNCITRCOLUMBUSOH 43210 FORD MOTOR CO ELDDEARBORNMI 48121

This paper is concerned with various analysis and design issues for a possible set of control channels which may be used to improve the maneuverability and handling of automobiles. Of the possible set of controls, the current paper is limited to variable wheel torque proportioning, rear steering, and normal force control. The analysis and design issues are studied using an extensive linear model representing the lateral, longitudinal, and vertical dynamics, including their,interactions, For the investigation of the finite-time behavior of system dynamics, we first introduce the notion of a reachable set where the attainability of a particular state vector at a particular time instant is considered. Next, we examine the attainability of a particular output trajectory within a finite-time interval using the notion of output function controllability. Several structural properties of these concepts have been studied, Various degenerate operating points are identified, where the effectiveness of the control channels deteriorates. In the steady-state analysis, the reference tracking and regulation problems are considered, It is shown that for some input/output subsystems those problems are generically solvable due to the minimum phase structure of the subsystems, For some others, those problems are solvable provided that the equilibrium point is not a degenerate equilibrium point. Finally, we show that for some input/output subsystems those problems are generically unsolvable.

关键词： controllability linear systems road vehicle control

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Techniques to control the electricity generation in a series hybrid electrical vehicle

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IEEE TRANSACTIONS ON ENERGY CONVERSION 2002年第2期17卷 260-266页

作者： Barsali, S Ceraolo, M Possenti, A Univ Pisa Dipartimento Sistemi Elettr & Automaz I-56100 Pisa Italy

In a series hybrid electric vehicle (SHEV), an electric generator feeds a do busbar (containing an electrochemical accumulator), which, in turns, feeds the vehicle traction system. A very important part of the vehicle is its control system, which has to maximize the vehicle efficiency while keeping the emissions within predetermined limits. To attain this goal, it can act in two ways: 1) It can switch the electric generator ON or OFF, and 2) when in the ON state, it can impose a given power to be delivered. To choose the control actions to perform it needs a) an algorithm to understand the behavior of the battery (determine the state-of-charge, maximum power, losses and b) an algorithm to make some forecast of the system load (i.e., the power required in the future of the trip, as a function of time). This paper discusses the main problems that arise when trying to synthesize the control system of the vehicle, taking into account issues a) and b). Some lab tests are also presented in which some of the proposed control techniques are experimentally checked.

关键词： batteries energy conversion fuel optimal control load forecasting road vehicle control road vehicle electric propulsion

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The Illinois roadway Simulator: A mechatronic testbed for vehicle dynamics and control

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IEEE-ASME TRANSACTIONS ON MECHATRONICS 2000年第4期5卷 349-359页

作者： Brennan, S Alleyne, A Univ Illinois Dept Mech & Ind Engn Urbana IL 61801 USA

The Illinois roadway Simulator (IRS) is a novel, mechatronic, scaled testbed used to study vehicle dynamics and controls. An overview of this system is presented, and individual hardware issues are addressed. System modeling results on the vehicles and hardware are introduced, and comparisons of the resulting dynamics are made with full-sized vehicles. To address the realism factor of using scaled vehicles, comparisons are made between dynamic responses of full-scale and IRS-scale vehicles. The method of dynamic similitude is a key to gaining confidence in the scaled testbed as an accurate representation of actual vehicles to a first approximation. The IRS is then used in a vehicle control case study to demonstrate the potential benefits of scaled investigations. The idea of driver-assisted control is formulated as a yaw-rate model-following problem based on the representation of the driver as a known disturbance model. The controller is designed and implemented to show that the vehicle's dynamics can be changed to match a prescribed reference model.

关键词： dynamic similitude mechatronics road vehicle control scaling

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Iterative learning control of antilock braking of electric and hybrid vehicles

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IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY 2005年第2期54卷 486-494页

作者： Mi, CT Lin, H Zhang, Y Univ Michigan Dept Elect & Comp Engn Dearborn MI 48128 USA Northwestern Polytech Univ Dept Elect Engn Xian 710072 Peoples R China Univ Michigan Dept Mech Engn Dearborn MI 48128 USA

Hybrid electric vehicles (HEVs) use multiple sources of power for propulsion which provides great ease and flexibility to achieve advanced controllability and additional driving performance. In this paper, the electric motor in HEV and electric vehicle (EV) propulsion systems is used to achieve antilock braking performance without a conventional antilock braking system (ABS). The paper illustrates that the antilock braking of HEV can be easily achieved using iterative learning control for various road conditions. A vehicle model, a slip ratio model, and a vehicle speed observer were developed to control the antilock performance of HEV during braking. Through iterative learning process, the motor torque is optimized to keep the tire slip ratio corresponding to the peak traction coefficient during braking. Simulations were performed on a compact size vehicle to validate the proposed control method. The control algorithm proposed in this paper may also be used for the ABS control of conventional vehicles.

关键词： antilock braking system (ABS) electric vehicle hybrid electric vehicle (HEV) iterative learning control regenerative braking road vehicle control road vehicle electric propulsion road vehicle electronics road vehicle power systems traction control

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Interoperable control Architecture for Cybercars and Dual-Mode Cars

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IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS 2009年第1期10卷 146-154页

作者： Naranjo, Jose E. Bouraoui, Laurent Garcia, Ricardo Parent, Michel Sotelo, Miguel Angel CSIC Inst Automat Ind Madrid 28500 Spain Inst Natl Rech Informat & Automat IMARA F-78153 Le Chesnay France Univ Alcala de Henares Dept Elect Alcala De Henares 28871 Spain

This work is driven by our vision that cybernetic transport systems (CTSs) based on fully automated urban vehicles (cyberears) will be seen on city roads and new dedicated infrastructures in the near future. These automated vehicles can be heterogeneous systems, such as human-driven traffic, each having different features and functionalities. In our case, we have developed a control architecture that can manage automatic driving of two cars: 1) CyCabs and 2) automated mass-produced cars. This architecture is interoperable and generates humanlike control of vehicles in any situation. Installation and communication with each vehicle are easy. The autonomous route-tracking behaviors are similar, even if the mechanical, electronic, software, and hardware configurations are different for both cars. The results of the developments shown in this paper are part of the European Union (EU) CyberCars-2 Project, which is currently under deployment.

关键词： Fuzzy control hybrid control intelligent control proportional-integral-diferentiaI (PID) control road vehicle control

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Adaptive emergency braking control with underestimation of friction coefficient

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IEEE TRANSACTIONS ON control SYSTEMS TECHNOLOGY 2002年第3期10卷 381-392页

作者： Yi, JG Alvarez, L Horowitz, R Univ Calif Berkeley Dept Mech Engn Berkeley CA 94720 USA Univ Nacl Autonoma Mexico Inst Ingn Mexico City 04510 DF Mexico

In this paper, a control scheme for emergency braking maneuvers in automated highway systems (AHSs) and a new online identification scheme to determine the tire-road friction characteristics of the vehicle are presented. The proposed controller determines the required pressure in the master cylinder of the braking system to achieve maximum deceleration during braking, based on the estimation of the tire-road friction characteristics and the overall braking system gain, for the given set of parameter estimates. With persistence of excitation, the identified static map between the tire longitudinal slip and the tire-road friction coefficient is guaranteed to converge to the actual map. When there is no persistence of excitation, and under a proper choice of initial conditions and adaptation gains, the proposed scheme underestimates the maximum coefficient of friction and its corresponding slip, and allows a conservative calculation of the safety critical intervehicle spacing.

关键词： adaptive estimation braking friction road vehicle control vehicle

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