Robust reconfigurable control for in-wheel motor vehicles

P. Gáspár, J. Bokor, András Mihály, Z. Szabó, Timea Fülep, Ferenc Szauter

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The paper deals with reconfigurable control of in-wheel electric vehicles. Basically the vehicle is controlled alone by the four electric engines mounted in the wheels of the vehicle. The goal is to design a control system with velocity and trajectory tracking ability realized by separate torque generation of the in-wheel motors. In critical driving situations when the yaw moment cannot be established with the four in-wheel engine alone, the high-level controller reconfigures the actuator inputs, thus steering intervention helps to stabilize the vehicle. Moreover, a multi-layer supervisory architecture for integrated control systems is also proposed. The operation of the vehicle is illustrated through a CarSim simulation example.

Original languageEnglish
Title of host publication2014 IEEE International Electric Vehicle Conference, IEVC 2014
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Print)9781479960750
DOIs
Publication statusPublished - Mar 6 2015
Event2014 IEEE International Electric Vehicle Conference, IEVC 2014 - Florence, Italy
Duration: Dec 17 2014Dec 19 2014

Other

Other2014 IEEE International Electric Vehicle Conference, IEVC 2014
CountryItaly
CityFlorence
Period12/17/1412/19/14

Fingerprint

Wheels
Engines
Control systems
Integrated control
Electric vehicles
Actuators
Torque
Trajectories
Controllers

Keywords

  • integrated control
  • LPV methods
  • reconfigurable
  • robust control

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Automotive Engineering

Cite this

Gáspár, P., Bokor, J., Mihály, A., Szabó, Z., Fülep, T., & Szauter, F. (2015). Robust reconfigurable control for in-wheel motor vehicles. In 2014 IEEE International Electric Vehicle Conference, IEVC 2014 [7056232] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IEVC.2014.7056232

Robust reconfigurable control for in-wheel motor vehicles. / Gáspár, P.; Bokor, J.; Mihály, András; Szabó, Z.; Fülep, Timea; Szauter, Ferenc.

2014 IEEE International Electric Vehicle Conference, IEVC 2014. Institute of Electrical and Electronics Engineers Inc., 2015. 7056232.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Gáspár, P, Bokor, J, Mihály, A, Szabó, Z, Fülep, T & Szauter, F 2015, Robust reconfigurable control for in-wheel motor vehicles. in 2014 IEEE International Electric Vehicle Conference, IEVC 2014., 7056232, Institute of Electrical and Electronics Engineers Inc., 2014 IEEE International Electric Vehicle Conference, IEVC 2014, Florence, Italy, 12/17/14. https://doi.org/10.1109/IEVC.2014.7056232
Gáspár P, Bokor J, Mihály A, Szabó Z, Fülep T, Szauter F. Robust reconfigurable control for in-wheel motor vehicles. In 2014 IEEE International Electric Vehicle Conference, IEVC 2014. Institute of Electrical and Electronics Engineers Inc. 2015. 7056232 https://doi.org/10.1109/IEVC.2014.7056232
Gáspár, P. ; Bokor, J. ; Mihály, András ; Szabó, Z. ; Fülep, Timea ; Szauter, Ferenc. / Robust reconfigurable control for in-wheel motor vehicles. 2014 IEEE International Electric Vehicle Conference, IEVC 2014. Institute of Electrical and Electronics Engineers Inc., 2015.
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