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Global force potential of over-actuated electric vehicles
KTH, School of Engineering Sciences (SCI), Aeronautical and Vehicle Engineering, Vehicle Dynamics.
KTH, School of Engineering Sciences (SCI), Aeronautical and Vehicle Engineering, Vehicle Dynamics.
KTH, School of Engineering Sciences (SCI), Aeronautical and Vehicle Engineering, Vehicle Dynamics.ORCID iD: 0000-0002-4048-3452
2010 (English)In: International Journal of Vehicle System Dynamics, ISSN 0042-3114, Vol. 48, no 9, 983-998 p.Article in journal (Refereed) Published
Abstract [en]

This paper formulates force constraints of over-actuated road vehicles. In particular, focus is put on different vehicle configurations provided with electrical drivelines. It is demonstrated that a number of vehicles possesses non-convex tyre and actuator constraints, which have an impact on the way in which the actuators are to be used. By mapping the actuator forces to a space on a global level, the potential of the vehicle motion is investigated for the vehicles studied. It is concluded that vehicles with individual drive, compared with individual brakes only, have a great potential to yaw motion even under strong lateral acceleration.

Place, publisher, year, edition, pages
2010. Vol. 48, no 9, 983-998 p.
Keyword [en]
brute force; combined slip; electric vehicles; force allocation; tyre forces; over-actuated vehicles
National Category
Mechanical Engineering
Identifiers
URN: urn:nbn:se:kth:diva-11016DOI: 10.1080/00423110903243232ISI: 000280153200001Scopus ID: 2-s2.0-77954897616OAI: oai:DiVA.org:kth-11016DiVA: diva2:234432
Note

QC 20100722

Available from: 2009-09-08 Created: 2009-09-08 Last updated: 2016-06-08Bibliographically approved
In thesis
1. Exploiting individual wheel actuators to enhance vehicle dynamics and safety in electric vehicles
Open this publication in new window or tab >>Exploiting individual wheel actuators to enhance vehicle dynamics and safety in electric vehicles
2009 (English)Doctoral thesis, comprehensive summary (Other academic)
Abstract [en]

This thesis is focused on individual wheel actuators in road vehicles intended for vehicle motion control. Particular attention is paid to electro-mechanical actuators and how they can contribute to improving vehicle dynamics and safety. The employment of individual wheel actuators at the vehicle's four corner results in a large degree of over-actuation. Over-actuation has a potential of exploiting the vehicle's force constraints at a high level and of controlling the vehicle more freely. One important reason for using over-actuated vehicles is their capability to assist the driver to experience the vehicle as desired. This thesis demonstrates that critical situations close to the limits can be handled more efficiently by over-actuation.

To maximise the vehicle performance, all the available actuators are systematically exploited within their force constraints.  Therefore, force constraints for the individually controlled wheel are formulated, along with important restrictions that follow as soon as a reduction in the degrees of freedom of the wheel occurs. Particular focus is directed at non-convex force constraints arising from combined tyre slip characteristics.

To evaluate the differently actuated vehicles, constrained control allocation is employed to control the vehicle. The allocation problem is formulated as an optimisation problem, which is solved by non-linear programming.

To emulate realistic safety critical scenarios, highly over-actuated vehicles are controlled and evaluated by the use of a driver model and a validated complex strongly non-linear vehicle model.

it is shown that, owing to the actuator redundancy, over-actuated vehicles possess an inherent capacity to handle actuator faults, with less need for extra hardware or case-specific fault-handling strategies.

Place, publisher, year, edition, pages
Stockholm: KTH, 2009. x, 84 p.
Series
Trita-AVE, ISSN 1651-7660 ; 2009:33
Keyword
autonomous wheel corner, actuators, vehicle dynamics, control allocation, electric vehicles, vehicle modelling
National Category
Engineering and Technology
Identifiers
urn:nbn:se:kth:diva-11005 (URN)978-91-7415-387-3 (ISBN)
Public defence
2009-09-25, F3, Lindstedtsvägen 26, KTH, Stockholm, 10:00 (English)
Opponent
Supervisors
Note
QC 20100722Available from: 2009-09-08 Created: 2009-09-03 Last updated: 2010-07-22Bibliographically approved

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Publisher's full textScopushttp://www.informaworld.com/smpp/content~db=all~content=a921496110

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Stensson Trigell, Annika

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