For intelligent four-wheel-drive (4WD) electric vehicle (EV), the vehicle speed can be planned and controlled for energy saving based on the slope information of road ahead. To reduce the calculation load of the optimisation algorithm, the model predictive control (MPC) method is formulated based on the time horizon in this study. Furthermore, a fast gradient method based control tool-GARMPC is used to solve the optimisation problem. First, the longitudinal dynamics model of 4WD EV based on time horizon and distance horizon is established based on the road slope information, respectively. Second, the MPC problem based on the time-discrete model is formulated and solved by GARMPC tool. For comparison, a dynamic program (DP) control method is introduced based on the distance-discrete model. Finally, the simulation is conducted under a designed road condition and a real measured road condition. The results show that the time-horizon based MPC method can significantly reduce the energy consumption compared with the proportion integration differentiation control method, which is similar to the driver's operation. Compared with the DP optimisation method, the time-based MPC method reduces the calculation time to smaller than 1 ms, which is essential for real-time application in a road vehicle.
Fast velocity trajectory planning and control algorithm of intelligent 4WD electric vehicle for energy saving using time-based MPC
IET Intelligent Transport Systems ; 13 , 1 ; 153-159
2018-11-12
7 pages
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
road slope information , model predictive control method , dynamic programming , optimisation algorithm , energy conservation , time-based MPC , predictive control , distance horizon , gradient methods , intelligent four-wheel-drive electric vehicle , energy saving , GARMPC tool , fast velocity trajectory planning algorithm , vehicle speed control , distance-discrete model , vehicle dynamics , fast gradient method based control tool , velocity control , road vehicles , electric vehicles , time-horizon based MPC method , longitudinal dynamics model , trajectory control , drives , fast velocity trajectory control algorithm , intelligent 4WD electric vehicle , calculation load reduction , time-discrete model , dynamic program control method , DP control method
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