An Energy Efficient Control Strategy for Electric Vehicle Driven by In-Wheel-Motors Based on Discrete Adaptive Sliding Mode Control
Abstract This paper presents an energy-efficient control strategy for electric vehicles (EVs) driven by in-wheel-motors (IWMs) based on discrete adaptive sliding mode control (DASMC). The nonlinear vehicle model, tire model and IWM model are established at first to represent the operation mechanism...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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SpringerOpen
2023-04-01
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| Series: | Chinese Journal of Mechanical Engineering |
| Subjects: | |
| Online Access: | https://doi.org/10.1186/s10033-023-00878-6 |
| _version_ | 1797836558115536896 |
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| author | Han Zhang Changzhi Zhou Chunyan Wang Wanzhong Zhao |
| author_facet | Han Zhang Changzhi Zhou Chunyan Wang Wanzhong Zhao |
| author_sort | Han Zhang |
| collection | DOAJ |
| description | Abstract This paper presents an energy-efficient control strategy for electric vehicles (EVs) driven by in-wheel-motors (IWMs) based on discrete adaptive sliding mode control (DASMC). The nonlinear vehicle model, tire model and IWM model are established at first to represent the operation mechanism of the whole system. Based on the modeling, two virtual control variables are used to represent the longitudinal and yaw control efforts to coordinate the vehicle motion control. Then DASMC method is applied to calculate the required total driving torque and yaw moment, which can improve the tracking performance as well as the system robustness. According to the vehicle nonlinear model, the additional yaw moment can be expressed as a function of longitudinal and lateral tire forces. For further control scheme development, a tire force estimator using an unscented Kalman filter is designed to estimate real-time tire forces. On these bases, energy efficient torque allocation method is developed to distribute the total driving torque and differential torque to each IWM, considering the motor energy consumption, the tire slip energy consumption, and the brake energy recovery. Simulation results of the proposed control strategy using the co-platform of Matlab/Simulink and CarSim® demonstrate that it can accomplish vehicle motion control in a coordinated and economic way. |
| first_indexed | 2024-04-09T15:11:57Z |
| format | Article |
| id | doaj.art-8dc3aabd021c4f368b6ebfbf63d6a0bc |
| institution | Directory Open Access Journal |
| issn | 2192-8258 |
| language | English |
| last_indexed | 2024-04-09T15:11:57Z |
| publishDate | 2023-04-01 |
| publisher | SpringerOpen |
| record_format | Article |
| series | Chinese Journal of Mechanical Engineering |
| spelling | doaj.art-8dc3aabd021c4f368b6ebfbf63d6a0bc2023-04-30T11:09:40ZengSpringerOpenChinese Journal of Mechanical Engineering2192-82582023-04-0136111210.1186/s10033-023-00878-6An Energy Efficient Control Strategy for Electric Vehicle Driven by In-Wheel-Motors Based on Discrete Adaptive Sliding Mode ControlHan Zhang0Changzhi Zhou1Chunyan Wang2Wanzhong Zhao3Vehicle Distributed Drive and Intelligent Wire Control Technology Research Center of Jiangsu Province, Nanjing University of Aeronautics and AstronauticsVehicle Distributed Drive and Intelligent Wire Control Technology Research Center of Jiangsu Province, Nanjing University of Aeronautics and AstronauticsVehicle Distributed Drive and Intelligent Wire Control Technology Research Center of Jiangsu Province, Nanjing University of Aeronautics and AstronauticsVehicle Distributed Drive and Intelligent Wire Control Technology Research Center of Jiangsu Province, Nanjing University of Aeronautics and AstronauticsAbstract This paper presents an energy-efficient control strategy for electric vehicles (EVs) driven by in-wheel-motors (IWMs) based on discrete adaptive sliding mode control (DASMC). The nonlinear vehicle model, tire model and IWM model are established at first to represent the operation mechanism of the whole system. Based on the modeling, two virtual control variables are used to represent the longitudinal and yaw control efforts to coordinate the vehicle motion control. Then DASMC method is applied to calculate the required total driving torque and yaw moment, which can improve the tracking performance as well as the system robustness. According to the vehicle nonlinear model, the additional yaw moment can be expressed as a function of longitudinal and lateral tire forces. For further control scheme development, a tire force estimator using an unscented Kalman filter is designed to estimate real-time tire forces. On these bases, energy efficient torque allocation method is developed to distribute the total driving torque and differential torque to each IWM, considering the motor energy consumption, the tire slip energy consumption, and the brake energy recovery. Simulation results of the proposed control strategy using the co-platform of Matlab/Simulink and CarSim® demonstrate that it can accomplish vehicle motion control in a coordinated and economic way.https://doi.org/10.1186/s10033-023-00878-6Electric vehicleEnergy optimizationMotion controlDiscrete adaptive sliding mode control |
| spellingShingle | Han Zhang Changzhi Zhou Chunyan Wang Wanzhong Zhao An Energy Efficient Control Strategy for Electric Vehicle Driven by In-Wheel-Motors Based on Discrete Adaptive Sliding Mode Control Chinese Journal of Mechanical Engineering Electric vehicle Energy optimization Motion control Discrete adaptive sliding mode control |
| title | An Energy Efficient Control Strategy for Electric Vehicle Driven by In-Wheel-Motors Based on Discrete Adaptive Sliding Mode Control |
| title_full | An Energy Efficient Control Strategy for Electric Vehicle Driven by In-Wheel-Motors Based on Discrete Adaptive Sliding Mode Control |
| title_fullStr | An Energy Efficient Control Strategy for Electric Vehicle Driven by In-Wheel-Motors Based on Discrete Adaptive Sliding Mode Control |
| title_full_unstemmed | An Energy Efficient Control Strategy for Electric Vehicle Driven by In-Wheel-Motors Based on Discrete Adaptive Sliding Mode Control |
| title_short | An Energy Efficient Control Strategy for Electric Vehicle Driven by In-Wheel-Motors Based on Discrete Adaptive Sliding Mode Control |
| title_sort | energy efficient control strategy for electric vehicle driven by in wheel motors based on discrete adaptive sliding mode control |
| topic | Electric vehicle Energy optimization Motion control Discrete adaptive sliding mode control |
| url | https://doi.org/10.1186/s10033-023-00878-6 |
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