电动汽车综合模型预测控制与速度估计外文文献.pdfVIP

Mechatronics 46 (2017) 84–100 Contents lists available at ScienceDirect Mechatronics journal homepage: /locate/mechatronics Integrated model predictive control and velocity estimation of electric vehicles a a,∗ a b b Milad Jalali , Ehsan Hashemi , Amir Khajepour , Shih-ken Chen , Bakhtiar Litkouhi a Department of Mechanical and Mechatronics Engineering, University of Waterloo, Waterloo, ON N2L 3G1, Canada b Global Research and Development Center, General Motors Company, Warren, MI 48090-9055, United States a r t i c l e i n f o a b s t r a c t Article history: In this paper, an integrated estimation and control system is developed for the stability and traction con- Received 16 September 2016 trol of electric vehicles. A model predictive control technique is used to track the desired vehicle yaw Revised 25 April 2017 rate while maintaining small lateral velocity and tire slip ratios. This paper proposes a new method to Accepted 4 July 2017 control the lateral stability of the vehicle. In this method, the lateral vehicle velocity is controlled indi- Available online 27 July 2017 rectly by adjusting the reference yaw rate. This reduces the size of the prediction model and