Scalable Slip Control With Torque Vectoring Including Input-to-State Stability Analysis

被引：3
作者：
Degel, Wolfgang [1 ,2 ]
Lupberger, Stefan [1 ,2 ]
Odenthal, Dirk [2 ]
Bajcinca, Naim [1 ]
机构：
[1] Univ Kaiserslautern, Dept Mech & Proc Engn, D-67663 Kaiserslautern, Germany
[2] BMW M GmbH, Dept Elect, D-85748 Garching, Germany
来源：
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY | 2023年 / 31卷 / 03期
关键词：
Wheels; Torque; Electric motors; Mechanical power transmission; Vehicle dynamics; Control systems; Behavioral sciences; Electric vehicles; input-output linearization; input-to-state stability (ISS); slip control; torque vectoring; TRACTION CONTROL-SYSTEM; REAL-TIME ESTIMATION; ELECTRIC VEHICLES; BRAKING; DESIGN; MODEL; ABS;
D O I：
10.1109/TCST.2022.3224839
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Electric motors offer new opportunities and challenges for wheel slip control and improve performance during accelerating, braking, and dynamic cornering. This work proposes a robust slip control system for electric vehicles. The system is suitable for a driven axle with two electric motors or a single electric motor and an electronically controlled differential. The torque is controlled individually for each wheel, enabling lateral torque distribution. The control design considers the torsional dynamics of the drive shafts and is performed via input-output linearization. The internal dynamics and the overall closed-loop system are analyzed regarding input-to-state stability. The approach is implemented on a prototype vehicle with two electric motors on the rear axle. The control performance is experimentally analyzed for accelerating on a road with different road surfaces on the left-and right-hand sides. The results show good tracking behavior, oscillation damping, disturbance attenuation, and robustness for various setpoints. The presented slip controller can be combined with high-level control systems to further shape the driving behavior.
引用
收藏
页码：1250 / 1265
页数：16
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