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ID:39466537
大小:1020.50 KB
页数:11页
时间:2019-07-04
《New Real-time Algorithm For Control Allocation of In-Wheel motor vehicle轮毂电机电动汽车转矩分配算法》由会员上传分享,免费在线阅读,更多相关内容在教育资源-天天文库。
1、F2014-EPT-068ANewReal-timeAlgorithmForControlAllocationofIn-Wheel-MotorElectricalVehicleZhengyi,He;Quanhui,Du;Hao,ZhangChinaAutomotiveEngineeringResearchInstitute,P.R.ChinaKEYWORDS–In-wheelmotorelectricvehicle,Controlallocation,Real-timealgorithmABSTRACT–Themaingoalofthispaperistodevelopageo
2、metrybasedalgorithmtosolvethecontrolallocationproblemforelectricvehicleusingin-wheelmotors.Theproposedmethoddonotrequireiterativecomputations,hencethecomputationeffortcanbegreatlyreducedandcanbeusedinreal-timeapplication.Thetheoreticalbasisanddetailsofthealgorithmarediscussedthispaper.Itisal
3、soshownthattheproposedmethodalsocanbeusedinseveralotherfour-wheeldrivevehicles.Theeffectivenessoftheproposedcontrolallocationalgorithmhasbeenvalidatedbythesoftwaretests.1.IntroductionAstofour-wheelindependentdrivevehicle(4WD)usingfourin-wheelmotors,thefourmotorscanbeusedastheactuatorstogener
4、atethedesiredtractionandactiveyaw-moment.Thisariseanewproblemcalledcontrolallocationproblem.Controlallocationdealswiththeproblemofdistributingtheyawmomentcommandanddesiredtractionforcecommandtoseveralactuators(fourin-wheel-motors),whiletheoutputofactuators(fourin-wheel-motors)satisfyingthegi
5、venconstraints.Itisnoticedthatthepreviouspublishedpapers[1-6]oncontrolallocationproblemareallfocusondiscussingthemethodswhichrequiremanyiterationtimes,suchasinterior-pointalgorithms,lowcomputationalefficiencyisthemajorproblemforthosecontrolallocationalgorithms.Ingeneral,thecontrolallocationp
6、roblemcanbeformulatedaslinearprogrammingproblem.However,whenthenumberofvariablesinalinearprogrammingproblemisgreatthanthreeormore,itisdifficulttousegeometrymethodtocalculatethefeasiblesolutions.Inthispaper,wedevelopageometrybasedmethodtogetthefeasiblesolutionswhilethecontrolallocationhasfour
7、variables.Themajorcontributionofthispaperisthatweusegeometrymethodtodevelopreal-timealgorithmforcontrolallocationproblem,whichdoesnotrequireiterationcomputation.Astotheproposedmethod,thereisnoproblemontheperformanceofconvergencerateandcomputational
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