Rear wheel torque vectoring model predictive control with velocity regulation for electric vehicles

In this paper we propose a constrained optimal control architecture for combined velocity, yaw and sideslip regulation for stabilisation of the vehicle near the limit of lateral acceleration using the rear axle electric torque vectoring configuration of an electric vehicle. A nonlinear vehicle and tyre model are used to find reference steady-state cornering conditions and design two model predictive control (MPC) strategies of different levels of fidelity: one that uses a linearised version of the full vehicle model with the rear wheels' torques as the input, and another one that neglects the wheel dynamics and uses the rear wheels' slips as the input instead. After analysing the relative trade-offs between performance and computational effort, we compare the two MPC strategies against each other and against an unconstrained optimal control strategy in Simulink and Carsim environment

A Real-time Nonlinear Model Predictive Controller for Yaw Motion Optimization of Distributed Drive Electric Vehicles

This paper proposes a real-time nonlinear model predictive control (NMPC) strategy for direct yaw moment control (DYC) of distributed drive electric vehicles (DDEVs). The NMPC strategy is based on a control-oriented model built by integrating a single track vehicle model with the Magic Formula (MF) tire model. To mitigate the NMPC computational cost, the continuation/generalized minimal residual (C/GMRES) algorithm is employed and modified for real-time optimization. Since the traditional C/GMRES algorithm cannot directly solve the inequality constraint problem, the external penalty method is introduced to transform inequality constraints into an equivalently unconstrained optimization problem. Based on the Pontryagin’s minimum principle (PMP), the existence and uniqueness for solution of the proposed C/GMRES algorithm are proven. Additionally, to achieve fast initialization in C/GMRES algorithm, the varying predictive duration is adopted so that the analytic expressions of optimally initial solutions in C/GMRES algorithm can be derived and gained. A Karush-Kuhn-Tucker (KKT) condition based control allocation method distributes the desired traction and yaw moment among four independent motors. Numerical simulations are carried out by combining CarSim and Matlab/Simulink to evaluate the effectiveness of the proposed strategy. Results demonstrate that the real-time NMPC strategy can achieve superior vehicle stability performance, guarantee the given safety constraints, and significantly reduce the computational efforts

Simulation of Electric Vehicles Combining Structural and Functional Approaches

In this paper the construction of a model that represents the behavior of an Electric Vehicle is described. Both the mechanical and the electric traction systems are represented using Multi-Bond Graph structural approach suited to model large scale physical systems. Then the model of the controllers, represented with a functional approach, is included giving rise to an integrated model which exploits the advantages of both approaches. Simulation and experimental results are aimed to illustrate the electromechanical interaction and to validate the proposal.Fil: Silva, Luis Ignacio. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina. Universidad Nacional de Rio Cuarto. Facultad de Ingeniería. Grupo de Electronica Aplicada; ArgentinaFil: Magallán, Guillermo Andrés. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina. Universidad Nacional de Rio Cuarto. Facultad de Ingeniería. Grupo de Electronica Aplicada; ArgentinaFil: de la Barrera, Pablo Martin. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina. Universidad Nacional de Rio Cuarto. Facultad de Ingeniería. Grupo de Electronica Aplicada; ArgentinaFil: de Angelo, Cristian Hernan. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina. Universidad Nacional de Rio Cuarto. Facultad de Ingeniería. Grupo de Electronica Aplicada; ArgentinaFil: Garcia, Guillermo. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina. Universidad Nacional de Rio Cuarto. Facultad de Ingeniería. Grupo de Electronica Aplicada; Argentin

An Autonomous Surface Vehicle for Long Term Operations

Environmental monitoring of marine environments presents several challenges: the harshness of the environment, the often remote location, and most importantly, the vast area it covers. Manual operations are time consuming, often dangerous, and labor intensive. Operations from oceanographic vessels are costly and limited to open seas and generally deeper bodies of water. In addition, with lake, river, and ocean shoreline being a finite resource, waterfront property presents an ever increasing valued commodity, requiring exploration and continued monitoring of remote waterways. In order to efficiently explore and monitor currently known marine environments as well as reach and explore remote areas of interest, we present a design of an autonomous surface vehicle (ASV) with the power to cover large areas, the payload capacity to carry sufficient power and sensor equipment, and enough fuel to remain on task for extended periods. An analysis of the design and a discussion on lessons learned during deployments is presented in this paper.Comment: In proceedings of MTS/IEEE OCEANS, 2018, Charlesto

Analisis dan penilaian prestasi lengah lepas tangan menggunakan protokol pencetusan sesi (SIP) bagi sistem terintegrasi UMTS-WLAN

Teknologi rangkaian tanpa vvayar 4G merupakan penggabungan beberapa teknologi rangkaian capaian yang berbeza seperti rangkaian Universal Mobile Telecommunication System (UMTS) dan Rangkaian Kawasan Setempat Tanpa Wayar (WLAN). Rangkaian 4G menyokong mobiliti tanpa kelim {seamless) dalam menjanjikan perhubungan dan perkhidmatan yang terbaik kepada pelanggan. Protokol Pencetusan Sesi (SIP) yang berada pada lapisan aplikasi telah diramalkan sebagai calon terbaik bagi menguruskan mobiliti di dalam rangkaian 4G. Rangkaian 4G yang menawarkan aplikasi multimedia dalam perkhidmatannya mesti mempunyai lengah lepas tangan yang rendah bagi mencapai objektif penubuhannya. Tujuan utama disertasi ini adalah untuk menilai lengah lepas tangan bagi sistem terintegrasi UMTSWLAN yang menggunakan SIP sebagai protokol pengisyaratan. Model simulasi menggunakan MATLAB dibangunkan untuk menilai prestasi lengah lepas tangan tersebut. Model simulasi menggambarkan pergerakan hos mobil ke rangkaian UMTS dan WLAN. Lengah lepas tangan yang berlaku diukur berdasarkan model analitik. Prestasi lengah lepas tangan dinilai berdasarkan perubahan kadar ralat kerangka (FER), kadar ketibaan sesi SIP dan halaju hos mobil (MIT) semasa MH bergerak ke rangkaian UMTS dan WLAN. Keputusan simulasi menunjukkan bahawa lengah lepas tangan meningkat dengan penambahan FER dan kadar ketibaan sesi SIP. Halaju kebolehgerakan pengguna memberi kesan terhadap nilai lengah lepas tangan. Keputusan juga menunjukkan lengah lepas tangan minimum yang berlaku sewaktu MH bergerak ke rangkaian UMTS adalah 1.9565 saat dengan lebar jalur saluran 128kbps dan ke rangkaian WLAN adalah sekitar 0.8651 saat dengan lebar jalur saluran 11 Mbps. Berdasarkan nilai ini, lengah lepas tangan semasa MH bergerak ke rangkaian UMTS atau WLAN adalah tidak boleh diterima untuk penjurusan multimedia. Di dalam kajian ini didapati capaian tanpa wayar GPRS menyumbang lengah terbesar daripada keseluruhan lengah lepas tangan ke rangkaian UMTS

Automatic crosswind flight of tethered wings for airborne wind energy: modeling, control design and experimental results

An approach to control tethered wings for airborne wind energy is proposed. A fixed length of the lines is considered, and the aim of the control system is to obtain figure-eight crosswind trajectories. The proposed technique is based on the notion of the wing's "velocity angle" and, in contrast with most existing approaches, it does not require a measurement of the wind speed or of the effective wind at the wing's location. Moreover, the proposed approach features few parameters, whose effects on the system's behavior are very intuitive, hence simplifying tuning procedures. A simplified model of the steering dynamics of the wing is derived from first-principle laws, compared with experimental data and used for the control design. The control algorithm is divided into a low-level loop for the velocity angle and a high-level guidance strategy to achieve the desired flight patterns. The robustness of the inner loop is verified analytically, and the overall control system is tested experimentally on a small-scale prototype, with varying wind conditions and using different wings.Comment: This manuscript is a preprint of a paper accepted for publication on the IEEE Transactions on Control Systems Technology and is subject to IEEE Copyright. The copy of record is available at IEEEXplore library: http://ieeexplore.ieee.org

RISE-Based Integrated Motion Control of Autonomous Ground Vehicles With Asymptotic Prescribed Performance

This article investigates the integrated lane-keeping and roll control for autonomous ground vehicles (AGVs) considering the transient performance and system disturbances. The robust integral of the sign of error (RISE) control strategy is proposed to achieve the lane-keeping control purpose with rollover prevention, by guaranteeing the asymptotic stability of the closed-loop system, attenuating systematic disturbances, and maintaining the controlled states within the prescribed performance boundaries. Three contributions have been made in this article: 1) a new prescribed performance function (PPF) that does not require accurate initial errors is proposed to guarantee the tracking errors restricted within the predefined asymptotic boundaries; 2) a modified neural network (NN) estimator which requires fewer adaptively updated parameters is proposed to approximate the unknown vertical dynamics; and 3) the improved RISE control based on PPF is proposed to achieve the integrated control objective, which analytically guarantees both the controller continuity and closed-loop system asymptotic stability by integrating the signum error function. The overall system stability is proved with the Lyapunov function. The controller effectiveness and robustness are finally verified by comparative simulations using two representative driving maneuvers, based on the high-fidelity CarSim-Simulink simulation

Torque vectoring based drive assistance system for turning an electric narrow tilting vehicle

The increasing number of cars leads to traffic congestion and limits parking issue in urban area. The narrow tilting vehicles therefore can potentially become the next generation of city cars due to its narrow width. However, due to the difficulty in leaning a narrow tilting vehicle, a drive assistance strategy is required to maintain its roll stability during a turn. This article presents an effective approach using torque vectoring method to assist the rider in balancing the narrow tilting vehicles, thus reducing the counter-steering requirements. The proposed approach is designed as the combination of two torque controllers: steer angle–based torque vectoring controller and tilting compensator–based torque vectoring controller. The steer angle–based torque vectoring controller reduces the counter-steering process via adjusting the vectoring torque based on the steering angle from the rider. Meanwhile, the tilting compensator–based torque vectoring controller develops the steer angle–based torque vectoring with an additional tilting compensator to help balancing the leaning behaviour of narrow tilting vehicles. Numerical simulations with a number of case studies have been carried out to verify the performance of designed controllers. The results imply that the counter-steering process can be eliminated and the roll stability performance can be improved with the usage of the presented approach