An Integrated Control Framework for Torque Vectoring and Active Suspension System  

作　　者：Jiwei Feng Jinhao Liang Yanbo Lu Weichao Zhuang Dawei Pi Guodong Yin Liwei Xu Pai Peng Chaobin Zhou 

机构地区：[1]School of Mechanical Engineering,Southeast University,Nanjing 211189,China [2]School of Mechanical Engineering,Nanjing University of Science and Technology,Nanjing 210094,China [3]School of Mechano-Electronic Engineering,Lanzhou University of Technology,Lanzhou 730050,China

出　　处：《Chinese Journal of Mechanical Engineering》2024年第1期62-73,共12页中国机械工程学报（英文版）

基　　金：Supported by National Natural Science Foundation of China(Grant Nos.51975118,52025121);Foundation of State Key Laboratory of Automotive Simulation and Control of China(Grant No.20210104);Foundation of State Key Laboratory of Automobile Safety and Energy Saving of China(Grant No.KFZ2201);Special Fund of Jiangsu Province for the Transformation of Scientific and Technological Achievements of China(Grant No.BA2021023).

摘　　要：Four-wheel independently driven electric vehicles(FWID-EV)endow a flexible and scalable control framework to improve vehicle performance.This paper integrates the torque vectoring and active suspension system(ASS)to enhance the vehicle’s longitudinal and vertical motion control performance.While the nonlinear characteristic of the tire model leads to a relatively heavier computational burden.To facilitate the controller design and ease the load,a half-vehicle dynamics system is built and simplified to the linear-time-varying(LTV)model.Then a model predictive controller is developed by formulating the objective function by comprehensively considering the safety,energy-saving and comfort requirements.The in-wheel motor efficiency and the power loss of tire slip are treated as optimization indices in this work to reduce energy consumption.Finally,the effectiveness of the proposed controller is verified through the rapid-control-prototype(RCP)test.The results demonstrate the enhancement of the energy-saving as well as comfort on the basis of vehicle stability.

关 键 词：Four-wheel independently driven electric vehicles Tire nonlinearity Linear-time-varying(LTV)model Model predictive control Rapid control prototype 

分 类 号：TP3[自动化与计算机技术—计算机科学与技术]