Optimal braking force allocation for a four-wheel drive fully electric vehicle

Control allocation can be used onboard fully electric vehicles in order to maximise the regenerative power produced during braking manoeuvres. In this study, the efficiency characteristics of an electric motor are used in conjunction with constraints from European braking regulations in an offline optimisation procedure aimed at maximising the regenerative power yielded at different motor speed and braking demand conditions. The resulting optimisation data are used in a simple online control allocation approach via a look-up table. Simulation results highlight significant motor power loss reductions and small increases in regenerative power under various levels of braking demand in comparison with a wheel torque allocation scheme in which the front axle-to-total braking force ratio is maintained at a constant level. The approach does not rely on complex online optimisation schemes and can thus be practically implemented in real time on fully electric vehicles.

[1]  Yan Chen,et al.  Fast and Global Optimal Energy-Efficient Control Allocation With Applications to Over-Actuated Electric Ground Vehicles , 2012, IEEE Transactions on Control Systems Technology.

[2]  T D Gillespie,et al.  Fundamentals of Vehicle Dynamics , 1992 .

[3]  Marc Bodson,et al.  Constrained quadratic programming techniques for control allocation , 2006, IEEE Transactions on Control Systems Technology.

[4]  Aldo Sorniotti,et al.  Optimal Wheel Torque Distribution for a Four-Wheel-Drive Fully Electric Vehicle , 2013 .

[5]  Michael Wang,et al.  The Advanced Energy Initiative , 2007 .

[6]  J. Laherrère,et al.  The End of Cheap Oil , 1998 .

[7]  Michael O. Harpster,et al.  The Electrification of the Automobile: From Conventional Hybrid, to Plug-in Hybrids, to Extended-Range Electric Vehicles , 2008 .

[8]  Mara Tanelli,et al.  Active Braking Control Systems Design for Vehicles , 2010 .

[9]  Yongsheng Zhang,et al.  Integrative control strategy of regenerative and hydraulic braking for hybrid electric car , 2009, 2009 IEEE Vehicle Power and Propulsion Conference.

[10]  Kevin M. Warsh,et al.  National Economic Council , 2003 .

[11]  Michael Jefferson,et al.  Forecasting the limits to the availability and diversity of global conventional oil supply , 2004 .

[12]  Yan Chen,et al.  Energy-efficient control allocation with applications on planar motion control of electric ground vehicles , 2011, Proceedings of the 2011 American Control Conference.

[13]  J. Van Mierlo,et al.  Electric and electric hybrid vehicle technology: a survey , 2000 .

[14]  Alberto Bellini,et al.  Battery choice and management for new-generation electric vehicles , 2005, IEEE Transactions on Industrial Electronics.

[15]  Patrick Gruber,et al.  Enhancing the Energy Efficiency of Fully Electric Vehicles via the Minimization of Motor Power Losses , 2013, 2013 IEEE International Conference on Systems, Man, and Cybernetics.

[16]  Paul Denholm,et al.  Emissions impacts and benefits of plug-in hybrid electric vehicles and vehicle-to-grid services. , 2009, Environmental science & technology.

[17]  Ulrich Eberle,et al.  Sustainable transportation based on electric vehicle concepts: a brief overview , 2010 .

[18]  Cao Binggang,et al.  Study on regenerative braking of electric vehicle , 2004, The 4th International Power Electronics and Motion Control Conference, 2004. IPEMC 2004..

[19]  Jiabin Wang,et al.  Torque Distribution Strategy for a Front- and Rear-Wheel-Driven Electric Vehicle , 2012, IEEE Transactions on Vehicular Technology.

[20]  Torkel Glad,et al.  Resolving actuator redundancy - optimal control vs. control allocation , 2005, Autom..

[21]  Mara Tanelli,et al.  Torque blending and wheel slip control in EVs with in-wheel motors , 2012 .