Design of safety-oriented control allocation strategies for overactuated electric vehicles

• Type: Article in International Scientific Journal
• Date: 2014

Authors

R. De castro (Author) FEUP; M. Tanelli (Author) Other; R. Esteves Araújo (Author) FEUP; S. Savaresi (Author) Other

Journal

Title: Vehicle System Dynamics

Vol. 52 No. 8

Pages: 1017-1046

ISSN: 0042-3114

Publisher: Taylor & Francis

Indexing

ISI Web of Knowledge - 19 Citations

ISI Web of Science

Scopus - 24 Citations

Scientific classification

CORDIS: Technological sciences > Engineering > Systems engineering

FOS: Engineering and technology > Electrical engineering, Electronic engineering, Information engineering

Other information

Authenticus ID: P-009-TMS

DOI: 10.1080/00423114.2014.916811

Abstract (EN): The new vehicle platforms for electric vehicles (ENTs) that are becoming available are characterised by actuator redundancy, which makes it possible to jointly optimise different aspects of the vehicle motion. To do this, high-level control objectives are first specified and solved with appropriate control r strategies. Then, the resulting virtual control action must be translated into actual actuator commands by a control allocation layer that takes care of computing the forces to be applied at the wheels. This step, in general, is quite demanding as for as computational complexity is considered. In this work, a safety-oriented approach to this problem is proposed. Specifically, a four-wheel steer EV with four in-wheel motors is considered, and the high-level motion controller is designed within a sliding mode framework with conditional integrators. For distributing the forces among the tyres, two control allocation approaches are investigated. The first, based on the extension of the cascading generalised inverse method, is computationally efficient but shows some limitations in dealing with unfeasible force values. To solve the problem, a second allocation algorithm is proposed, which relies on the linearisation of the tyre road friction constraints. Extensive tests, carried out in the CarSim simulation environment, demonstrate the effectiveness of the proposed approach.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 30