Title: Energy management and dynamic control for skid-steered unmanned special vehicle with range-extended system

Authors: Dequan Zeng; Yiming Hu; Zhenwen Deng

Addresses: School of Mechatronics and Vehicle Engineering, East China Jiaotong University, Nanchang, 330013, Jiangxi, China; Postdoctoral Research Center of Transportation Engineering, East China Jiaotong University, Nanchang 330013, Jiangxi, China; Institute of Computer Application Technology, NORINCO Group, Beijing, 100089, China; Jiangxi Tongling Automotive Technology Co. LTD., Nanchang, 330052, Jiangxi, China ' School of Mechatronics and Vehicle Engineering, East China Jiaotong University, Nanchang, 330013, Jiangxi, China; Postdoctoral Research Center of Transportation Engineering, East China Jiaotong University, Nanchang 330013, Jiangxi, China; Institute of Computer Application Technology, NORINCO Group, Beijing, 100089, China; Jiangxi Tongling Automotive Technology Co. LTD., Nanchang, 330052, Jiangxi, China ' Institute of Computer Application Technology, NORINCO Group, Beijing, 100089, China

Abstract: In order to achieve the fast mobility of a skid-steered unmanned special vehicle with range-extended system, the extended range system model is explored and established, the economic optimal operating point matching the power performance requirement is extracted, and the energy management strategy with feedforward-feedback tracking power controller is designed. Aiming at addressing the problem that the dynamic control is easily degraded owing to parameter uncertainty and actuator saturation in vehicle motion system, the anti-saturation feedforward-feedback control law is explored and developed based on Lyapunov method. The results of simulation and real vehicle test show that the designed energy management strategy has satisfied transient and steady-state power tracking performance, and the designed dynamic control strategy has satisfied transient and steady-state handling performance, which meets the requirement of rapid and stable manoeuvrability for the skid-steered unmanned special vehicle with extended range system.

Keywords: energy management; dynamic control; unmanned special vehicle; anti-saturation feedforward-feedback control law; Lyapunov method.

DOI: 10.1504/IJVD.2024.139170

International Journal of Vehicle Design, 2024 Vol.95 No.3/4, pp.252 - 274

Received: 06 Jul 2023
Accepted: 27 Nov 2023
Published online: 24 Jun 2024 *

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