Hierarchical NMPC for energy-efficient torque vectoring in four in-wheel motor electric vehicles

IF 5.4 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Control Engineering Practice Pub Date : 2025-07-14 DOI:10.1016/j.conengprac.2025.106477

Suyong Park , Junghyo Kim , Duc Giap Nguyen , Minsoo Woo , Daekwang Kim , Kyoungseok Han

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引用次数: 0

Abstract

This paper presents a hierarchical torque vectoring (TV) framework that integrates vehicle dynamics enhancement and energy efficiency improvement using nonlinear model predictive control (NMPC) for four in-wheel motor electric vehicles (4WMEVs). TV systems offer significant potential for enhancing both handling performance and energy economy by optimally distributing torque among the wheels. However, effectively balancing these two objectives remains a critical challenge. To address this, we propose a simplified hierarchical control structure that simultaneously improves handling performance and reduces energy consumption. The top-layer controller computes the desired longitudinal tire forces to generate accurate yaw moments, enhancing handling performance. The bottom-layer controller ensures energy-optimal torque allocation while preserving the control objectives of the top-layer. Simulation results demonstrate that the proposed strategy achieves a 11.27% reduction in energy consumption without compromising handling performance.

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四轮电机电动汽车节能转矩矢量的分级NMPC

提出了一种基于非线性模型预测控制（NMPC）的四级轮毂电动汽车（4wmev）分层扭矩矢量控制（TV）框架，该框架集成了车辆动力学增强和能效改进。电视系统提供显著的潜力，以提高处理性能和能源经济性的最佳分配扭矩之间的车轮。然而，有效地平衡这两个目标仍然是一个重大挑战。为了解决这个问题，我们提出了一种简化的分层控制结构，同时提高了处理性能并降低了能耗。顶层控制器计算所需的纵向轮胎力，以产生准确的偏航力矩，提高操纵性能。底层控制器在保持顶层控制目标的同时保证能量最优转矩分配。仿真结果表明，该策略在不影响处理性能的情况下，能耗降低了11.27%。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Control Engineering Practice 工程技术-工程：电子与电气

CiteScore

9.20

自引率

12.20%

发文量

183

审稿时长

44 days

期刊介绍： Control Engineering Practice strives to meet the needs of industrial practitioners and industrially related academics and researchers. It publishes papers which illustrate the direct application of control theory and its supporting tools in all possible areas of automation. As a result, the journal only contains papers which can be considered to have made significant contributions to the application of advanced control techniques. It is normally expected that practical results should be included, but where simulation only studies are available, it is necessary to demonstrate that the simulation model is representative of a genuine application. Strictly theoretical papers will find a more appropriate home in Control Engineering Practice''s sister publication, Automatica. It is also expected that papers are innovative with respect to the state of the art and are sufficiently detailed for a reader to be able to duplicate the main results of the paper (supplementary material, including datasets, tables, code and any relevant interactive material can be made available and downloaded from the website). The benefits of the presented methods must be made very clear and the new techniques must be compared and contrasted with results obtained using existing methods. Moreover, a thorough analysis of failures that may happen in the design process and implementation can also be part of the paper. The scope of Control Engineering Practice matches the activities of IFAC. Papers demonstrating the contribution of automation and control in improving the performance, quality, productivity, sustainability, resource and energy efficiency, and the manageability of systems and processes for the benefit of mankind and are relevant to industrial practitioners are most welcome.