MPC-Based Slip Ratio Control for Electric Vehicle Considering Road Roughness
In this paper, a slip ratio controller based on model predictive control (MPC) considering road roughness is proposed for electric vehicle (EV) to improve the driving/braking performance under low adhesion coefficient road. A half vehicle dynamic model is derived in which pitching, wheel rolling, an...
Main Authors: | , , , , |
---|---|
Format: | Article |
Language: | English |
Published: |
IEEE
2019-01-01
|
Series: | IEEE Access |
Subjects: | |
Online Access: | https://ieeexplore.ieee.org/document/8689009/ |
id |
doaj-26b3f899c8b0412291865d82288275da |
---|---|
record_format |
Article |
spelling |
doaj-26b3f899c8b0412291865d82288275da2021-03-29T22:39:09ZengIEEEIEEE Access2169-35362019-01-017524055241310.1109/ACCESS.2019.29108918689009MPC-Based Slip Ratio Control for Electric Vehicle Considering Road RoughnessYan Ma0https://orcid.org/0000-0002-5165-3314Jinyang Zhao1Haiyan Zhao2Chao Lu3Hong Chen4Department of Control Science and Engineering, Jilin University, Changchun, ChinaDepartment of Control Science and Engineering, Jilin University, Changchun, ChinaDepartment of Control Science and Engineering, Jilin University, Changchun, ChinaTroops of the Chinese People’s Liberation Army, Shenyang, ChinaDepartment of Control Science and Engineering, Jilin University, Changchun, ChinaIn this paper, a slip ratio controller based on model predictive control (MPC) considering road roughness is proposed for electric vehicle (EV) to improve the driving/braking performance under low adhesion coefficient road. A half vehicle dynamic model is derived in which pitching, wheel rolling, and tire vertical movement is taking into account. The influence of vertical force variation caused by road unevenness and tire load transfer is analyzed to design slip ratio controller. In order to ensure vehicle safety, wheel slip stable zone is considered as time-domain constraints of the nonlinear-MPC. Besides, the motor output torque is limited by the motor maximum torque, which is considered as system time-varying constraints. The control objectives include vehicle safety, good longitudinal acceleration and braking performance, preservation of driver comfort, and lower power consumption. The proposed slip ratio controller is verified on a 13-degree-of-freedom (13DOF) EV model in MATLAB/Simulink. Simulation results of different maneuver on roughness surfaces show the benefits of the controller.https://ieeexplore.ieee.org/document/8689009/Slip ratio control systemdriving/braking torqueuneven roadMPCelectric vehicle |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Yan Ma Jinyang Zhao Haiyan Zhao Chao Lu Hong Chen |
spellingShingle |
Yan Ma Jinyang Zhao Haiyan Zhao Chao Lu Hong Chen MPC-Based Slip Ratio Control for Electric Vehicle Considering Road Roughness IEEE Access Slip ratio control system driving/braking torque uneven road MPC electric vehicle |
author_facet |
Yan Ma Jinyang Zhao Haiyan Zhao Chao Lu Hong Chen |
author_sort |
Yan Ma |
title |
MPC-Based Slip Ratio Control for Electric Vehicle Considering Road Roughness |
title_short |
MPC-Based Slip Ratio Control for Electric Vehicle Considering Road Roughness |
title_full |
MPC-Based Slip Ratio Control for Electric Vehicle Considering Road Roughness |
title_fullStr |
MPC-Based Slip Ratio Control for Electric Vehicle Considering Road Roughness |
title_full_unstemmed |
MPC-Based Slip Ratio Control for Electric Vehicle Considering Road Roughness |
title_sort |
mpc-based slip ratio control for electric vehicle considering road roughness |
publisher |
IEEE |
series |
IEEE Access |
issn |
2169-3536 |
publishDate |
2019-01-01 |
description |
In this paper, a slip ratio controller based on model predictive control (MPC) considering road roughness is proposed for electric vehicle (EV) to improve the driving/braking performance under low adhesion coefficient road. A half vehicle dynamic model is derived in which pitching, wheel rolling, and tire vertical movement is taking into account. The influence of vertical force variation caused by road unevenness and tire load transfer is analyzed to design slip ratio controller. In order to ensure vehicle safety, wheel slip stable zone is considered as time-domain constraints of the nonlinear-MPC. Besides, the motor output torque is limited by the motor maximum torque, which is considered as system time-varying constraints. The control objectives include vehicle safety, good longitudinal acceleration and braking performance, preservation of driver comfort, and lower power consumption. The proposed slip ratio controller is verified on a 13-degree-of-freedom (13DOF) EV model in MATLAB/Simulink. Simulation results of different maneuver on roughness surfaces show the benefits of the controller. |
topic |
Slip ratio control system driving/braking torque uneven road MPC electric vehicle |
url |
https://ieeexplore.ieee.org/document/8689009/ |
work_keys_str_mv |
AT yanma mpcbasedslipratiocontrolforelectricvehicleconsideringroadroughness AT jinyangzhao mpcbasedslipratiocontrolforelectricvehicleconsideringroadroughness AT haiyanzhao mpcbasedslipratiocontrolforelectricvehicleconsideringroadroughness AT chaolu mpcbasedslipratiocontrolforelectricvehicleconsideringroadroughness AT hongchen mpcbasedslipratiocontrolforelectricvehicleconsideringroadroughness |
_version_ |
1724191129393430528 |