Title: Vehicle dynamics control with energy recuperation based on control allocation for independent wheel motors and brake system

Authors: Barys Shyrokau; Danwei Wang; Dzmitry Savitski; Valentin Ivanov

Addresses: Autonomous Robotics Research Lab, School of Electrical and Electronic Engineering, Nanyang Technological University, 50 Nanyang Avenue, Block S2 Level B6 Unit 01 (S2-B6a-01), 639798, Singapore ' Autonomous Robotics Research Lab, School of Electrical and Electronic Engineering, Nanyang Technological University, 50 Nanyang Avenue, Block S2 Level B6 Unit 01 (S2-B6a-01), 639798, Singapore ' Automotive Engineering Department, Ilmenau University of Technology, Gustav-Kirchhoff-Platz 2, 98693 Ilmenau, Germany ' Automotive Engineering Department, Ilmenau University of Technology, Gustav-Kirchhoff-Platz 2, 98693 Ilmenau, Germany

Abstract: This work proposes an optimal control allocation method for the brake system and the wheel motors of an electric vehicle. The realisation of the method is proposed for vehicle dynamics control and energy recuperation. The control allocation takes into account temperature of electric motors, SOC and voltage of battery, vehicle velocity, fault situations, wheel slip, and vehicle subsystem prioritisation depending on parameters of vehicle dynamics. To illustrate the functional properties of the control allocation method, the corresponding simulation study is performed for the straight-line braking and 'sine with dwell' cornering. The simulations use a number of mathematical models including the 14 DoF model of vehicle motion and the models of electric vehicle systems. The simulation results confirmed effectiveness of the proposed approach both for regenerative braking and vehicle stability.

Keywords: electric vehicles; control allocation; vehicle dynamics; regenerative braking; electric powertrain; dynamic control; energy recuperation; braking systems; wheel motors; simulation; mathematical modelling; vehicle stability.

DOI: 10.1504/IJPT.2013.054158

International Journal of Powertrains, 2013 Vol.2 No.2/3, pp.153 - 181

Received: 09 May 2012
Accepted: 05 Dec 2012
Published online: 19 Jul 2014 *

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