TY - GEN
T1 - Energy-efficient control allocation with applications on planar motion control of electric ground vehicles
AU - Chen, Yan
AU - Wang, Junmin
PY - 2011
Y1 - 2011
N2 - This paper presents a control method for tracking electric ground vehicle planar motions while achieving the optimal energy consumption. Sliding mode control and an energy-efficient control allocation (CA) scheme are synthesized to track the desired vehicle longitudinal, lateral, and yaw motions. By explicitly incorporating actuator efficiencies and actuator operating modes into the coordination of redundant in-wheel motors equipped on electric ground vehicles, vehicle planar motion control and operating energy optimization are achieved simultaneously. Different maneuvers are tested for comparisons between the standard and the energy-efficient CA schemes. Based on experimental data and some reasonable assumptions on the efficiencies of in-wheel motors, the energy-efficient CA dictates different torque distributions on all the wheels under consideration of different efficiencies. Simulation results indicate that, in comparison to the results by the standard CA scheme, less energy is consumed when the energy-efficient CA scheme is applied for controlling the electric ground vehicle planar motions.
AB - This paper presents a control method for tracking electric ground vehicle planar motions while achieving the optimal energy consumption. Sliding mode control and an energy-efficient control allocation (CA) scheme are synthesized to track the desired vehicle longitudinal, lateral, and yaw motions. By explicitly incorporating actuator efficiencies and actuator operating modes into the coordination of redundant in-wheel motors equipped on electric ground vehicles, vehicle planar motion control and operating energy optimization are achieved simultaneously. Different maneuvers are tested for comparisons between the standard and the energy-efficient CA schemes. Based on experimental data and some reasonable assumptions on the efficiencies of in-wheel motors, the energy-efficient CA dictates different torque distributions on all the wheels under consideration of different efficiencies. Simulation results indicate that, in comparison to the results by the standard CA scheme, less energy is consumed when the energy-efficient CA scheme is applied for controlling the electric ground vehicle planar motions.
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M3 - Conference contribution
AN - SCOPUS:80053147925
SN - 9781457700804
T3 - Proceedings of the American Control Conference
SP - 2719
EP - 2724
BT - Proceedings of the 2011 American Control Conference, ACC 2011
T2 - 2011 American Control Conference, ACC 2011
Y2 - 29 June 2011 through 1 July 2011
ER -