There is growing interest in fully electric vehicles in the automotive industry as it becomes increasingly more difficult to meet new and upcoming emission regulations based on internal combustion engines. Fully electric vehicles do not have an internal combustion engine. Hence, drive torque change for a traction control system and for a yaw stability control system has to be through the electric motor used for traction. The regenerative braking capability of fully electric vehicles has to be taken into account in designing braking controllers like ABS and yaw stability control through differential braking. Fully electric vehicles are usually lighter vehicles with different dynamic characteristics than that of their predecessors using internal combustion engines. As such, their yaw stability control systems have to be re-designed and tested. This paper reports the initial results of ongoing work on yaw stability controller design for a fully electric vehicle. Two different implementations on a research prototype fully electric light commercial vehicle are considered. The first implementation uses the production yaw stability control system in the internal combustion engine powered conventional vehicle. The drive torque change commands from the production ECU are read, modified and sent to the electric motor driver in trying to mimic the conventional vehicle. The differential braking commands are the same as in the conventional vehicle. In the second implementation, a generic yaw stability control system that calculates and issues its own drive torque change commands and differential braking commands is designed and implemented. Offline simulations on a validated model and a hardware-in-the-loop simulation system are used in designing the yaw stability control system.
In this article, a simplified modeling and system identification procedure for yaw motion of an unmanned surface vehicle (USV) is presented. Two thrusters that allow for both speed and direction control propel the USV. The outputs of the vehicle under inquiry include parameters that define the mobility of the USV in horizontal plane, such as yaw angle and yaw rate. A linear second order model is first developed, and the unknown coefficients are then determined using data from pool trials. Finally, simulations are carried out to verify the model so that it may be used in a later study to implem…
Vehicle stability control systems are important components of active safety systems for road transport. The problem of vehicle lateral stability control is addressed in this paper using active front wheel steering and individual braking. Vehicle lateral stability control means keeping the vehicle yaw rate and the vehicle side slip angle in desired values. For this reason, a model-based controller is designed. The desired yaw rate is obtained from the single track vehicle model and the desired side slip angle is chosen as zero. Controller design consists of two parts, lower and upper controller…
Constrained Optimization-Based Yaw-Rate Reference Map Generation for Active Rear Steering Control of Four-Wheel Steering Vehicles
Cho Chun Shik Graduate School of Mobility, Korea Advanced Institute of Science and Technology (KAIST)（韩国科学技术院曹春植移动研究生院）；Hyundai Motor Company (HMC)（现代汽车公司）
Dual-Envelope Constrained Nonlinear MPC for Distributed Drive Electric Vehicles Drifting Under Bounded Steering and Direct Yaw-Moment Control
State Key Laboratory of Automotive Simulation and Control, Jilin University（吉林大学汽车动态模拟与控制国家重点实验室）；Center of Research for Cyber Security and Network (CSNET), Faculty of Computer Science and Information Technology, Universiti Malaya（马来亚大学计算机科学与信息技术学院网络安全与网络研究中心）；Department of Electrical and Electronic Engineering, University of Hong Kong（香港大学电子电气工程系）；School of Engineering, Edith Cowan University（伊迪斯科文大学工程学院）；College of Computing and Data Science, Nanyang Technological University（南洋理工大学计算与数据科学学院）
Deep Koopman risk-preview supervised LTV-MPC for direct yaw moment control of distributed drive electric vehicles
College of Mechanical and Vehicle Engineering, Chongqing University（重庆大学机械与车辆工程学院）；Department of Automotive Engineering, Hanyang University（汉阳大学汽车工程系）；School of Vehicle Engineering, Chongqing University of Technology（重庆理工大学车辆工程学院）
An Iterative Algorithm to Symbolically Derive Generalized n-Trailer Vehicle Kinematics
Department of Mechanical and Aerospace Engineering, The Ohio State University（机械与航空航天工程系，俄亥俄州立大学）；Department of Engineering Education, The Ohio State University（工程教育系，俄亥俄州立大学）；The Ohio State University Center for Automotive Research（俄亥俄州立大学汽车研究中心）
This paper proposes a solution to the attitude tracking problem for a novel quadrotor tailsitter unmanned aerial vehicle called swiveling biplane quadrotor. The proposed vehicle design addresses the lack of yaw control authority in conventional biplane quadrotor tailsitters by proposing a new design wherein two wings with two attached propellers are joined together with a rod through a swivel mechanism. The yaw torque is generated by relative rotation of the thrust vector of each wing. The unique design of this configuration having two rigid bodies interconnected through a rod with zero torsio…
Featuring the fast response and flexibility in control allocation, an electric vehicle with in-wheel motors is a good platform for implementing advanced vehicle dynamics control. Among many active safety functions of an in-wheel motor driven vehicle (IMDV), lateral stability control is a key technology, which can be realized through torque vectoring. To further advance the lateral stabilization performance of the IMDV, in this paper a novel data-driven nonlinear model predictive control (NMPC) is proposed based the recurrent high-order neural network (RHONN) modelling method. First, the new RH…
This paper presents a three-dimensional (3D) energy-optimal path-following control design for autonomous underwater vehicles subject to ocean currents. The proposed approach has a two-stage control architecture consisting of the setpoint computation and the setpoint tracking. In the first stage, the surge velocity, heave velocity, and pitch angle setpoints are optimized by minimizing the required vehicle propulsion energy under currents, and the line-of-sight (LOS) guidance law is used to generate the yaw angle setpoint that ensures path following. In the second stage, two model predictive con…
Physics-informed deep learning is a popular trend in the modeling and control of dynamical systems. This paper presents a novel method for rapid online identification of vehicle cornering stiffness coefficient, a crucial parameter in vehicle stability control models and control algorithms. The new method enables designers to rapidly identify the vehicle front and rear cornering stiffness parameters so that the controller reference gains can be re-adjusted under varying road and vehicle conditions to improve the reference tracking performance of the control system during operation. The proposed…
The focus of this paper is an integrated, fault-tolerant vehicle supervisory control algorithm for the overall stability of ground vehicles. Vehicle control systems contain many sensors and actuators that can communicate with each other over communication networks. The proposed supervisory control scheme is composed of a high-level controller that creates a virtual control input vector and a low-level control allocator that distributes the virtual control effort among redundant actuators. Virtual control input incorporates the required traction force, yaw, pitch, and roll moment corrections, a…
The growing deployment of electric mobility calls for power system analyses to investigate to what extent the simultaneous charging of electric vehicles leads to degraded network operation and to validate the efficiency of countermeasures. To reduce complexity and CPU time, a common approach while performing these analyses consists in replacing electric vehicles and their charging stations with constant PQ loads. However, this approach is inaccurate, as the power absorbed by these elements actually depends not only on voltage but also on the state of charge, charging method, cathode chemistry …
We study the feasibility of using electric vehicles in online, high-capacity ridepooling systems. Prior work has shown that online algorithms perform well for centrally-controlled, high-capacity ridepool systems. First, we propose a mixed integer linear program to expand past algorithms on ridepooling to electric vehicles fleets with the objective of scheduling vehicle charging to maintain sufficient fleet sizes at various times of day. Then we show a faster, scalable algorithm with similar performance that is practical for full-scale systems. Our contributions show the importance of having kn…
Exergy, or availability, is a thermodynamic concept representing the useful work that can be extracted from a system evolving from a given state to a reference state. It is also a system metric, formulated from the first and the second law of thermodynamics, encompassing the interactions between subsystems and the resulting entropy generation. In this paper, an exergy-based analysis for ground vehicles is proposed. The study, a first to the authors' knowledge, defines a comprehensive vehicle and powertrain-level modeling framework to quantify exergy transfer and destruction phenomena for the v…
We illustrate that the electrification of our transport system might impose unnecessary extra congestion and delay for daily commuting passengers. By modelling travel behaviors of these passengers, it is found that more of them tend to depart at a narrower peak-hour time window. The occurrence of this shift is mainly caused by (1) the energy consumption of electric vehicles (EVs) is much lower than that of traditional vehicles and (2) the energy consumption of EVs is less sensitive to congestion than that of traditional vehicles. We further examine the role of congestion toll in minimizing the…
Electric vehicles (EVs) are critical to the transition to a low-carbon transportation system. The successful adoption of EVs heavily depends on energy consumption models that can accurately and reliably estimate electricity consumption. This paper reviews the state-of-the-art of EV energy consumption models, aiming to provide guidance for future development of EV applications. We summarize influential variables of EV energy consumption into four categories: vehicle component, vehicle dynamics, traffic and environment related factors. We classify and discuss EV energy consumption models in term…
This paper proposes a novel control law for accurate tracking of agile trajectories using a tailsitter flying wing unmanned aerial vehicle (UAV) that transitions between vertical take-off and landing (VTOL) and forward flight. The global control formulation enables maneuvering throughout the flight envelope, including uncoordinated flight with sideslip. Differential flatness of the nonlinear tailsitter dynamics with a simplified aerodynamics model is shown. Using the flatness transform, the proposed controller incorporates tracking of the position reference along with its derivatives velocity,…
Shift of the power system generation from the fossil to the variable renewable sources prompted the system operators to search for new sources of flexibility, that is, new reserve providers. With the introduction of electric vehicles, smart charging emerged as one of the relevant solutions. However, electric vehicle aggregators face the uncertainty of reserve activation on one side and electric vehicle availability on the other. These uncertainty can have a negative effect on both the aggregators' profitability and their users' comfort.State-of-the art literature mostly neglects the reserve ac…
This paper presents a modeling and optimization framework to design battery electric micromobility vehicles, minimizing their total cost of ownership (TCO). Specifically, we first identify a model of the electric powertrain of an e-scooter and an e-moped consisting of a battery, a single electric motor and a transmission. Second, we frame an optimal joint design and control problem minimizing the TCO of the vehicles. Since this problem is nonlinear w.r.t. the motor size and the total mass of the vehicle, but convex if their value is given, we efficiently solve the problem for a range of motor …
Wireless charging technology provides a solution to the insufficient battery life of electric vehicles (EVs). However, the conflict of interests between wireless charging lanes (WCLs) and EVs is difficult to resolve. In the day-ahead electricity market, considering the revenue of WCLs caused by the deviation between actual electricity sales and pre-purchased electricity, as well as endurance and traveling experience of EVs, this paper proposes a charging scheduling algorithm based on a double-layer game model. In lower layer, the potential game is used to model the multi-vehicle game of vehicl…
The increasing trend of transportation electrification presents investors the opportunity to provide charging services to Electric Vehicle (EV) owners via the energy purchased from the wholesale electricity market. This will benefit EV owners with the availability of competitive rates compared to the regulated utility time-of-use (TOU) rates. The fundamental questions addressed in this paper are 1) will EV owners benefit from the additional choice of Electric Vehicle Charging Stations (EVCSs) compared to home charging? 2) is there any profitable market opportunity for charging stations while t…
Community-to-Vehicle: Integrating Electric Vehicles into Energy Communities -- A Swiss Case Study
Empa, Swiss Federal Laboratories for Materials Science and Technology（瑞士联邦材料科学与技术研究院）；Delft University of Technology（代尔夫特理工大学）；Enexis Netbeheer B.V.（Enexis Netbeheer有限公司）
This article proposes an offline Energy Management System (EMS) for Parallel Hybrid Electric Vehicles (PHEVs). Dividing the torque between the Electric Motor (EM) and the Internal Combustion Engine (ICE) requires a suitable EMS. Batteries are vital to HEVs and significantly impact overall vehicle cost and performance. High temperature and high battery State of Charge (SOC) are the main factors that accelerate battery aging. SOC is the most critical state variable in EMS and was usually considered the only dynamic variable in previous studies. For simplicity, the battery temperature was often a…
A novel variable dc-link voltage technique is proposed to reduce the traction losses for electrical drive applications. A 100-unit cascaded multilevel converter is developed to generate the variable dc-link voltage. Experimental measurement shows that the machine additional losses and IGBT-inverter losses are reduced substantially. The system efficiency enhancement is at least 2%.
India is expected to witness rapid growth in electricity use over the next two decades. Here, we introduce a custom regression model to project electricity consumption in India over the coming decades, which includes a bottom-up estimate of electricity consumption for two major growth drivers, air conditioning, and vehicle electrification. The model projections are available at a customizable level of spatial aggregation at an hourly temporal resolution, which makes them useful as inputs to long-term electricity infrastructure planning studies. The approach is used to develop electricity consu…
