NewReal-timeAlgorithmForControlAllocationofIn-Wheelmotorvehicle轮毂电机电动汽车转矩分配算法研讨.docVIP

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NewReal-timeAlgorithmForControlAllocationofIn-Wheelmotorvehicle轮毂电机电动汽车转矩分配算法研讨.doc

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F2014-EPT-068 A New Real-time Algorithm For Control Allocation of In-Wheel-Motor Electrical Vehicle Zhengyi, He; Quanhui, Du; Hao, Zhang China Automotive Engineering Research Institute, P.R.China KEYWORDS –In-wheel motor electric vehicle, Control allocation, Real-time algorithm ABSTRACT – The main goal of this paper is to develop a geometry based algorithm to solve the control allocation problem for electric vehicle using in-wheel motors. The proposed method do not require iterative computations, hence the computation effort can be greatly reduced and can be used in real-time application. The theoretical basis and details of the algorithm are discussed this paper. It is also shown that the proposed method also can be used in several other four-wheel drive vehicles. The effectiveness of the proposed control allocation algorithm has been validated by the software tests. Introduction As to four-wheel independent drive vehicle(4WD) using four in-wheel motors, the four motors can be used as the actuators to generate the desired traction and active yaw-moment. This arise a new problem called control allocation problem. Control allocation deals with the problem of distributing the yaw moment command and desired traction force command to several actuators(four in-wheel-motors), while the output of actuators(four in-wheel-motors) satisfying the given constraints. It is noticed that the previous published papers [1-6] on control allocation problem are all focus on discussing the methods which require many iteration times, such as interior-point algorithms, low computational efficiency is the major problem for those control allocation algorithms. In general, the control allocation problem can be formulated as linear programming problem. However, when the number of variables in a linear programming problem is great than three or more, it is difficult to use geometry method to calculate the feasible solutions. In this paper, we develop a geometry based method to get the feasible