Interconnected Hierarchical Modelling and Passivity Based Motion Control of IWM Electric Vehicles

With respect to the nonlinearity and the uptrend in the number of actuators, design and analysis of IWM vehicle motion control becomes complex issues. Physically speaking, the motion of the in-wheel-motor (IWM) vehicle is generated by the interaction of the local wheels through the vehicle body. However, this interaction was not properly treated by almost the works in the field of vehicle motion control. Thus, how to stabilize the total system by local actuator controllers is a nontrivial question. To this end, this paper suggests that the IWM vehicle can be modelled as an interconnected hierarchical system. Then, we apply passivity based methodology to analyse the vehicle system and propose two new methods for wheel velocity control and anti-slip control. The effectiveness of the proposal is verified by simulations using Carsim software.

[1]  Takayuki Ishizaki,et al.  Glocal (global/local) control synthesis for hierarchical networked systems , 2015, 2015 IEEE Conference on Control Applications (CCA).

[2]  Yoichi Hori,et al.  Design Of Anti‐Slip Controller For An Electric Vehicle With An Adhesion Status Analyzer Based On The Ev Simulator , 2006 .

[3]  David M. Bevly,et al.  The use of GPS based velocity measurements for improved vehicle state estimation , 2000, Proceedings of the 2000 American Control Conference. ACC (IEEE Cat. No.00CH36334).

[4]  Hiroshi Fujimoto,et al.  Glocal motion control system of in-wheel-motor electric vehicles based on driving force distribution , 2016, 2016 SICE International Symposium on Control Systems (ISCS).

[5]  P. Olver.  Nonlinear Systems , 2013 .

[6]  Hans B. Pacejka,et al.  Tire and Vehicle Dynamics , 1982 .

[7]  Hiroshi Fujimoto,et al.  Model-Based Range Extension Control System for Electric Vehicles With Front and Rear Driving–Braking Force Distributions , 2015, IEEE Transactions on Industrial Electronics.

[8]  H. Fujimoto,et al.  Motion stabilization control of electric vehicle under snowy conditions based on yaw-moment observer , 2004, The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04..

[9]  Shuzhi Sam Ge,et al.  Sliding-Mode-Observer-Based Adaptive Slip Ratio Control for Electric and Hybrid Vehicles , 2012, IEEE Transactions on Intelligent Transportation Systems.

[10]  Binh Minh Nguyen,et al.  Hierarchically decentralized control for in-wheel-motored electric vehicles with global and local objectives , 2017, 2017 11th Asian Control Conference (ASCC).

[11]  Antonella Ferrara,et al.  Wheel Slip Control via Second-Order Sliding-Mode Generation , 2010, IEEE Transactions on Intelligent Transportation Systems.

[12]  Yoichi Hori,et al.  Direct Yaw-Moment Control of an In-Wheel-Motored Electric Vehicle Based on Body Slip Angle Fuzzy Observer , 2009, IEEE Transactions on Industrial Electronics.

[13]  Hiroyuki Kawai,et al.  Passivity-Based Dynamic Visual Feedback Control for Three-Dimensional Target Tracking: Stability and $L_{2}$-Gain Performance Analysis , 2007, IEEE Transactions on Control Systems Technology.

[14]  Yoichi Hori,et al.  Four-wheel Driving-force Distribution Method for Instantaneous or Split Slippery Roads for Electric Vehicle , 2013 .

[15]  Yoichi Hori,et al.  A Novel Traction Control for EV Based on Maximum Transmissible Torque Estimation , 2009, IEEE Transactions on Industrial Electronics.

[16]  Diana Bohm,et al.  L2 Gain And Passivity Techniques In Nonlinear Control , 2016 .

[17]  Yoichi Hori,et al.  Future Vehicle driven by Electricity and Control , 2006 .

[18]  Hiroshi Shimizu.  MULTI-PURPOSE ELECTRIC VEHICLE "KAZ" , 2001 .

[19]  Yoshio Kano,et al.  A study on tyre force distribution controls for full drive-by-wire electric vehicle , 2014 .

[20]  Anuradha M. Annaswamy,et al.  Design and Stability of Optimal Frequency Control in Power Networks: A Passivity-based Approach , 2018, 2018 European Control Conference (ECC).

[21]  Alain Bouscayrol,et al.  Simulation Model of a Military HEV With a Highly Redundant Architecture , 2010, IEEE Transactions on Vehicular Technology.

[22]  Hideaki Tanaka,et al.  Stability Analysis of Systems With Generalized Frequency Variables , 2014, IEEE Transactions on Automatic Control.