Citation

Ataei M, Khajepour A, Jeon S. Veh. Syst. Dyn. 2020; 58(1): 49-73.

Copyright

(Copyright © 2020, Informa - Taylor and Francis Group)

DOI

10.1080/00423114.2019.1585557

PMID

unavailable

Abstract

This study presents an integrated multi-objective controller for electric vehicles ( EVs) to achieve four main control objectives concurrently, i.e. slip control in traction and braking, lateral stability control, handling improvement, and rollover prevention. The model-based integrated controller provides a centralised structure to improve the overall stability of the vehicle. The proposed controller considers the interactions of different stability objectives and delivers an optimal solution by including all objectives, simultaneously. The main stability issues in vehicle dynamics including slip control in traction and braking, lateral stability, handling improvement, and rollover prevention are integrated and incorporated in this controller. The stability objectives are realised through proper distribution of torques on four independent wheels of EVs. The unified integrated controller is developed using the Model Predictive Control (MPC) approach. Barrier functions are employed to confine the state variables for slip control, lateral stability, and rollover prevention within the handling limits and safe regions of manoeuverability. Simulation results show that the proposed integrated controller can be effectively used for control of different stability and safety issues of EVs in different situations.

Language: en

Keywords

electric vehicles; Integrated stability control; Model Predictive Control; reconfigurable control; rollover prevention; torque vectoring