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首页> 外文期刊>SAE International Journal of Vehicle Dynamics, Stability, and NVH >Study on Energy Loss due to Cornering Resistance in Over-Actuated Vehicles using Optimal Control
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Study on Energy Loss due to Cornering Resistance in Over-Actuated Vehicles using Optimal Control

机译：研究能量损失由于转弯阻力在Over-Actuated车辆使用最优控制

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As vehicles become electrified and more intelligent in terms of sensing, actuation and processing; a number of interesting possibilities arise in controlling vehicle dynamics and driving behavior. Over-actuation with in-wheel motors, all wheel steering and active camber is one such possibility, which facilitate the control strategies that push boundaries in energy consumption and safety. Optimal control can be used to investigate the best combinations of control inputs to an over-actuated system. This paper shows how an optimal control problem can be formulated and solved for an over-actuated vehicle case, and highlights the translation of this optimal solution to a real-world scenario, enabling intelligent means to improve vehicle efficiency. This paper gives an insight into Dynamic Programming (DP) as an offline optimal control method that guarantees the global optimum. Therefore the optimal control allocation to minimize an objective function and simultaneously fulfill the defined constraints can be achieved. As a case study the effects of over-actuation on the cornering resistance were investigated in two different maneuvers i.e. step steer and sine with dwell, where in both cases the vehicle assumes to be in steady state situation. In this work the cornering resistance is the main objective function and maintaining the reference trajectory is the constraint which should be fulfilled. A parameter study is conducted on the benefits of over-actuation, and depending on the type of over-actuation about 15% to 50% reduction in cornering resistance were observed during step steer and sine with dwell maneuver respectively. From a second parameter study that focused on COG position from a safety perspective, it is more beneficial for the vehicle to be designed to under-steer than over-steer. Finally, a method is described to translate the offline optimal results to vehicle implementable controllers in the form of both feed-through lookup-tables and rule-based feed-forward control.
机译：随着汽车电气化等等智能传感、驱动和加工;出现在控制车辆动力学和开车的行为。所有轮转向和活跃的曲面就是这样的一个可能性,便于控制战略,推动边界的能量消费和安全性。用于调查的最佳组合控制输入一个over-actuated系统。论文展示了一个最优控制问题over-actuated制定和解决车辆情况,并强调了翻译的这个最优解真实的场景中,启用智能手段来改善车辆效率。动态规划(DP)作为离线最优控制方法,保证了全球最优。一个目标函数和降到最低同时满足定义的约束可以实现。over-actuation在转弯阻力调查在两个不同的动作即一步引导和正弦住,在这两种情况下假设在稳定状态的情况。是主要的目标函数和维护参考轨迹的约束应该满足。进行over-actuation所带来的好处根据over-actuation约15%的类型转弯阻力减少50%观察到在步骤引导和正弦住分别操作。从安全研究主要集中在齿轮位置的角度来看,它是更有益的车辆设计under-steer比over-steer。将离线最优结果可实现控制器的形式通孔查找表和基于规则的前馈控制。

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