Optimal Torque Distribution Strategy for Minimizing Energy Consumption of Four-wheel Independent Driven Electric Ground Vehicle

Zhao Tang; Xing Xu; Xinwei  Jiang; Haobin Jiang; Hongbing Zhao

doi:10.6180/jase.201809_21(3).0008

Optimal Torque Distribution Strategy for Minimizing Energy Consumption of Four-wheel Independent Driven Electric Ground Vehicle

Zhao Tang¹, Xing Xu This email address is being protected from spambots. You need JavaScript enabled to view it.¹, Xinwei Jiang¹, Haobin Jiang¹ and Hongbing Zhao¹

¹School of Automotive and Traffic Engineering, Jiangsu University, Zhenjiang 212013, P.R. China

Received: December 6, 2017
Accepted: January 20, 2018
Publication Date: September 1, 2018

Download Citation: ||https://doi.org/10.6180/jase.201809_21(3).0008

ABSTRACT

In order to improve the energy efficiency of a four-wheel independent driven ground vehicle, a vehicle model consisting of the vehicle dynamics model, in-wheel motor model and driver model is built in Matlab/Simulink and Carsim. The feasibility of the control allocation to distribute the total required torque to four in-wheel motors is analyzed and proved. Generally, motor rotation speed and torque have a great influence on the motor efficiency. Therefore, it is an effective method to improve the energy efficiency of vehicle by reasonably allocating the torque of the four in-wheel motors to make the motors work in high efficient regions. The total cost function of vehicle economy and motor torque mutation is constructed, then, the dynamic programming (DP) algorithm is adopted to obtain the optimized control instruction sequence of the motor torque. Simulation of the new control allocation algorithm is carried out on the federal test program (FTP) drive cycle and the urban new European driving cycle (NEDC). The results show that the energy consumption is significantly reduced with the proposed control allocation.

Keywords: Electric Ground Vehicle, Four-wheel Independent Driven, Energy Efficiency Optimization, Dynamic Programming

REFERENCES

[1] Hallowell,S. J.and Ray,L.R.,“All-wheelDriving Using Independent Torque Control of Each Wheel,” American Control Conference, Proceedings of the 2003, pp. 25902595 (2003).
[2] Buja, G. S. and Kazmierkowski, M. P., “Direct Torque Control of PWM Inverter-fed Ac Motors - a Survey,” IEEE Transactions on Industrial Electronics, Vol. 51, No. 4, pp. 744757 (2004). doi: 10.1109/TIE.2004. 831717
[3] Smith, W. J., “Can Ev (Electric Vehicles) Address Ireland’s CO2 Emissions From Transport?” Energy, Vol. 35, No. 12, pp. 451474521 (2010). doi: 10.1016/j. energy.2010.07.029
[4] Nunes, P., Farias, T. and Brito, M. C., “Enabling Solar Electricity with Electric Vehicles Smart Charging,” Energy, Vol. 87, pp. 1020 (2015). doi: 10.1016/j.energy. 2015.04.044
[5] Juul, N., “Battery Prices and Capacity Sensitivity: Electric Drive Vehicles,” Energy, Vol. 4, No. 1, pp. 403410 (2012). doi: 10.1016/j.energy.2012.09.015
[6] Chen, Y. and Wang, J., “Design and Evaluation on Electric Differentials for Over-actuated Electric Ground Vehicles with Four Independent In-wheel Motors,” IEEE Transactions on Vehicular Technology, Vol. 61, No. 4, pp. 15341542 (2012).
[7] Wang, J., Chen, Y., Feng, D., Huang, X. and Wang, J., “Development and Performance Characterization of an Electric Ground Vehicle with Independently Actuated In-wheel Motors,” Journal of Power Sources, Vol. 196, No. 8, pp. 39623971 (2011). doi: 10.1016/j. jpowsour.2010.11.160
[8] Poonamallee, V. L., Yurkovich, S., Serrani, A. D., Doman, B. and Oppenheimer, M. W., “A Nonlinear Programming Approach for Control Allocation,” American Control Conference, Proceedings of the 2004, Vol. 2, pp. 16891694 (2004).
[9] Alwi, H. and Edwards, C., “Fault Tolerant Control Using Sliding Modes with On-line Control Allocation,” Automatica, Vol. 44, pp. 18591866 (2008). doi: 10. 1016/j.automatica.2007.10.034
[10] Liao, F., Lum, K., Wang, J. L. and Benosman, M., “Adaptive Nonlinear Control Allocation of Non-minimum Phase Uncertain Systems,” American Control Conference, pp. 5872592 (2009).
[11] Zheng, J., Su, W. and Fu, M., “Dual-stage Actuator Control Design Using a Doubly Coprime Factorization Approach,” IEEE/ASME Transactions on Mechatronics, Vol. 15, No. 3, pp. 339348 (2010). doi: 10.1109/ TMECH.2009.2025772
[12] Edren, J., Exploring Force Allocation of Over Actuated Vehicles, Licentiate Thesis, KTH Royal Institute of Technology, Stockholm (Sweden) (2011).
[13] Kim, D., Hwang, S. and Kim, H., “Vehicle Stability Enhancementof Four-wheel-drive Hybrid Electric Vehicle Using Rear Motor Control,” IEEE Transactions on Vehicular Technology, Vol. 57, No. 2, pp. 727–735 (2008). doi: 10.1109/TVT.2007.907016
[14] Zhao, Y. and Zhang, J., “Yaw Stability Control of a Four-independent-wheel Drive Electric Vehicle,” International Journal of Electric and Hybrid Vehicles, Vol. 2, No 1, pp. 64–76 (2009).
[15] Chen, B. and Kuo, C., “Electronic StabilityControl for Electric Vehicle with Four In-wheel Motors,” International Journal of Automotive Technology, Vol. 15, No. 4, pp. 573–580 (2014). doi: 10.1007/s12239-014-00604
[16] Lu, D. B., Ouyang, M. G. and Gu, J., “Torque Distribution Algorithm for a Permanent Brushless DC Hub Motor for Four-wheel Drive Electric Vehicles,” Journal of Tsinghua University (Science and Technology),Vol. 52, No. 4, pp. 451–456 (2012).
[17] Zhang, S., Zhang, C. N. and Han, G. W., “Optimal Control Strategy Design Based on Dynamic Programming for a Dual-motor Coupling-propulsion System,” The Scientific World Journal (2014). doi: 10.1155/2014/ 958239
[18] Zhang, S. and Xiong, R., “Adaptive Energy Management of Plug-in Hybrid Electric Vehicle Based on Driving Pattern Recognition and Dynamic Programming,” Applied Energy, Vol. 155, pp. 6878 (2015). doi: 10. 1016/j.apenergy.2015.06.003
[19] Ao, G.Q.,Qiang, J.X.,Zhong, H.,Mao,X.J.,Yang, L. and Zhuo, B., “Fuel Economy and Nox Emission Potential Investigation and Trade-off of a Hybrid Electric Vehicle Based on Dynamic Programming,” Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, Vol. 222, No. 10, pp. 18511864 (2008).