Factors Impacting Tire Force Control in 4WID-4WIS EVs

核心概念

Advanced tire force control strategies for 4WID-4WIS electric vehicles are influenced by vertical load estimation, actuator dynamics, tire force constraints, and wheel steering precision.

摘要

The paper analyzes the impacts of four key factors on tire force control allocation in 4WID-4WIS electric vehicles. It discusses the importance of precise vertical load estimation, actuator dynamic characteristics, tire force constraints, and wheel steering precision. The study introduces novel methods to enhance lateral force allocation accuracy, improve yaw rate response, calculate real-time attainable tire force volume, and implement feedforward control for better wheel steering precision.

Introduction

Discusses the significance of advanced configurations in electric vehicles.
Highlights the critical role of tire force control allocation at handling limits.

Vertical Load Estimation

Static load estimation (ST) versus load transfer methods (LTXY and LTRPZ).
Importance of accurate vertical load estimation for control allocation.

Vehicle Motion Control

Upper-level motion controller using PI controllers and sliding mode control.
Focus on minimizing lateral tracking error and achieving desired lateral forces.

Tire Force Allocation

Middle-level control allocation considering actuator dynamics.
Optimization objectives to satisfy total demand while minimizing adhesion utilization.

Tire Attainable Force Volume Calculation

Calculation rules for approximating attainable tire force volumes.
Convex polygonal method used for real-time linear constraints on tire forces.

Actuator Control

Lower-level implementation of calculated tire forces through torque and steering angle.
Compensation for bump steer with feedforward controller based on suspension displacement data.

Simulation and Results

Joint simulations using Matlab/Simulink and Carsim to analyze different factors' effects on control allocation in 4WID-4WIS EVs.

統計資料

"The drive system's time constant is approximately 15 ms."
"Dynamic characteristic tests of the steering system indicate a time constant of around 100 ms."

引述

"Precise vertical load estimation enhances lateral force allocation accuracy."
"A new control allocation method is introduced that considers actuator dynamics based on actuators’ time constants."

從以下內容提煉的關鍵洞見

Unveiling Four Key Factors for Tire Force Control Allocation in 4WID-4WIS Electric Vehicles at Handling Limits

by Ao Lu,Runfen... 於 arxiv.org 03-20-2024

https://arxiv.org/pdf/2403.12487.pdf

深入探究

How do these findings impact the development of future electric vehicle technologies

The findings presented in the study have significant implications for the development of future electric vehicle technologies. By focusing on tire force control allocation in 4WID-4WIS electric vehicles, the research offers insights into enhancing handling stability and maneuverability under extreme conditions. This can lead to improved overall vehicle performance, safety, and energy efficiency. The advanced control strategies developed in this study pave the way for more integrated electric vehicles with precise control over each wheel's driving/braking torque and steering angle. Implementing these findings can result in enhanced dynamic performance potential and increased vehicle stability, ultimately shaping the future of electric vehicle technology.

What are potential drawbacks or limitations of focusing on actuator dynamics in tire force control

While focusing on actuator dynamics in tire force control allocation brings several benefits such as improved response time and accuracy in distributing forces to individual wheels, there are potential drawbacks or limitations to consider. One limitation is the complexity added to the control system due to incorporating actuator dynamics. This complexity may increase computational requirements and algorithm execution time, impacting real-time responsiveness during dynamic driving scenarios. Additionally, overly emphasizing actuator dynamics could potentially overshadow other critical factors influencing tire force distribution, leading to an imbalance in optimization efforts that may not yield proportional improvements across all aspects of vehicle performance.

How can advancements in suspension design further improve wheel steering precision

Advancements in suspension design play a crucial role in further improving wheel steering precision beyond what is achieved through traditional methods alone. By optimizing suspension kinematics to minimize bump steer effects caused by changes in toe angles during wheel movement, manufacturers can enhance steering accuracy and reduce deviations that affect tire forces at extreme conditions. Incorporating adaptive suspension systems that actively adjust based on road conditions or driver inputs can provide finer control over wheel movements, leading to more precise steering responses and better management of lateral tire forces during challenging maneuvers. These advancements contribute significantly to overall vehicle handling capabilities and driver confidence on various road surfaces.