An Improved Motion Control With Cyber-Physical Uncertainty Tolerance for Distributed Drive Electric Vehicle
A lateral motion control scheme for a distributed drive electric vehicle is presented in this paper, which takes into account both in-car network and movement-parameter uncertainty in a synthetic manner. Distributed drive vehicles have obvious advantages in terms of safety and comfort at high speeds...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
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IEEE
2022-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/9661273/ |
| _version_ | 1811341990065864704 |
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| author | Wanke Cao Zhiwen Zhu Jinrui Nan Qingqing Yang Guangjian Gu Hongwen He |
| author_facet | Wanke Cao Zhiwen Zhu Jinrui Nan Qingqing Yang Guangjian Gu Hongwen He |
| author_sort | Wanke Cao |
| collection | DOAJ |
| description | A lateral motion control scheme for a distributed drive electric vehicle is presented in this paper, which takes into account both in-car network and movement-parameter uncertainty in a synthetic manner. Distributed drive vehicles have obvious advantages in terms of safety and comfort at high speeds due to the well-known E/E architecture, which includes an in-vehicle network, advanced vehicle motion control, and Advanced Driver Assistance System (ADAS) technologies. This is a fundamentally cyber-physical system. However, on the other hand, the application/insertion of in-vehicle network and the dynamic of wide-range varying speeds introduce additional system uncertainties, such as time-varying network induced delays and inevitable system perturbation, making controller design a difficult problem and even making the system unstable. This paper develops a cyber-physical control scheme and under which a two-process perturbation analysis is proposed to illustrate the system uncertainties. A hierarchical control strategy is also devised, with an upper-level gain-scheduling controller dealing with speed perturbation uncertainties and a lower-level <inline-formula> <tex-math notation="LaTeX">$H_{\mathrm {\infty }}$ </tex-math></inline-formula>-LQR controller dealing with in-vehicle network uncertainty. Using real-time hardware in loop testing, the suggested control technique was found to be effective in dealing with both in-vehicle network and system perturbation problems while also ensuring reliable vehicle stability in all three scenarios. |
| first_indexed | 2024-04-13T19:03:19Z |
| format | Article |
| id | doaj.art-3da863bf72b141cf99a616fba6745260 |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-04-13T19:03:19Z |
| publishDate | 2022-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-3da863bf72b141cf99a616fba67452602022-12-22T02:34:02ZengIEEEIEEE Access2169-35362022-01-011077077810.1109/ACCESS.2021.31365739661273An Improved Motion Control With Cyber-Physical Uncertainty Tolerance for Distributed Drive Electric VehicleWanke Cao0https://orcid.org/0000-0003-0406-1727Zhiwen Zhu1Jinrui Nan2Qingqing Yang3https://orcid.org/0000-0002-5829-5863Guangjian Gu4Hongwen He5https://orcid.org/0000-0003-2874-1858Hunan Provincial Key Laboratory of Vehicle Power and Transmission System, Beijing Institute of Technology, Beijing, ChinaHunan Provincial Key Laboratory of Vehicle Power and Transmission System, Beijing Institute of Technology, Beijing, ChinaHunan Provincial Key Laboratory of Vehicle Power and Transmission System, Beijing Institute of Technology, Beijing, ChinaFaculty of Engineering, Environment and Computing, Coventry University, Coventry, U.K.Hunan Provincial Key Laboratory of Vehicle Power and Transmission System, Beijing Institute of Technology, Beijing, ChinaHunan Provincial Key Laboratory of Vehicle Power and Transmission System, Beijing Institute of Technology, Beijing, ChinaA lateral motion control scheme for a distributed drive electric vehicle is presented in this paper, which takes into account both in-car network and movement-parameter uncertainty in a synthetic manner. Distributed drive vehicles have obvious advantages in terms of safety and comfort at high speeds due to the well-known E/E architecture, which includes an in-vehicle network, advanced vehicle motion control, and Advanced Driver Assistance System (ADAS) technologies. This is a fundamentally cyber-physical system. However, on the other hand, the application/insertion of in-vehicle network and the dynamic of wide-range varying speeds introduce additional system uncertainties, such as time-varying network induced delays and inevitable system perturbation, making controller design a difficult problem and even making the system unstable. This paper develops a cyber-physical control scheme and under which a two-process perturbation analysis is proposed to illustrate the system uncertainties. A hierarchical control strategy is also devised, with an upper-level gain-scheduling controller dealing with speed perturbation uncertainties and a lower-level <inline-formula> <tex-math notation="LaTeX">$H_{\mathrm {\infty }}$ </tex-math></inline-formula>-LQR controller dealing with in-vehicle network uncertainty. Using real-time hardware in loop testing, the suggested control technique was found to be effective in dealing with both in-vehicle network and system perturbation problems while also ensuring reliable vehicle stability in all three scenarios.https://ieeexplore.ieee.org/document/9661273/Distributed drive electric vehiclecyber -physicaldirect yaw-moment control (DYC)<italic xmlns:ali="http://www.niso.org/schemas/ali/1.0/" xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">H</italic>∞-based linear quadratic regulator (<italic xmlns:ali="http://www.niso.org/schemas/ali/1.0/" xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">H</italic>∞-LQR)gain-schedulingtwo-process perturbation analysis |
| spellingShingle | Wanke Cao Zhiwen Zhu Jinrui Nan Qingqing Yang Guangjian Gu Hongwen He An Improved Motion Control With Cyber-Physical Uncertainty Tolerance for Distributed Drive Electric Vehicle IEEE Access Distributed drive electric vehicle cyber -physical direct yaw-moment control (DYC) <italic xmlns:ali="http://www.niso.org/schemas/ali/1.0/" xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">H</italic>∞-based linear quadratic regulator (<italic xmlns:ali="http://www.niso.org/schemas/ali/1.0/" xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">H</italic>∞-LQR) gain-scheduling two-process perturbation analysis |
| title | An Improved Motion Control With Cyber-Physical Uncertainty Tolerance for Distributed Drive Electric Vehicle |
| title_full | An Improved Motion Control With Cyber-Physical Uncertainty Tolerance for Distributed Drive Electric Vehicle |
| title_fullStr | An Improved Motion Control With Cyber-Physical Uncertainty Tolerance for Distributed Drive Electric Vehicle |
| title_full_unstemmed | An Improved Motion Control With Cyber-Physical Uncertainty Tolerance for Distributed Drive Electric Vehicle |
| title_short | An Improved Motion Control With Cyber-Physical Uncertainty Tolerance for Distributed Drive Electric Vehicle |
| title_sort | improved motion control with cyber physical uncertainty tolerance for distributed drive electric vehicle |
| topic | Distributed drive electric vehicle cyber -physical direct yaw-moment control (DYC) <italic xmlns:ali="http://www.niso.org/schemas/ali/1.0/" xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">H</italic>∞-based linear quadratic regulator (<italic xmlns:ali="http://www.niso.org/schemas/ali/1.0/" xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">H</italic>∞-LQR) gain-scheduling two-process perturbation analysis |
| url | https://ieeexplore.ieee.org/document/9661273/ |
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