[PDF] Estimation and dynamic longitudinal control of an electric vehicle

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ÉCOLE DOCTORALE: STITS

Laboratoire des Signaux et Systèmes, SUPELEC

Département Contrôle, IFPEN

DISCIPLINE PHYSIQUE

THÈSE DE DOCTORAT

soutenue le 30/09/2013 par

Marcel-StefanGeamanu

Estimation and Dynamic Longitudinal

Control of an Electric Vehicle with

In-wheel Electric Motors

Directeurs de thèse: HuguesMounier- Professeur (L2S)

GillesCorde- Chef de département (IFPEN)

Jury :

President :DorothéeNormand-Cyrot- Directeur de recherche (L2S)

Rapporteurs :DominiqueMeizel- Professeur (ENSIL)

FatihcanAtay- Professeur (MPG)

Examinateurs :MichelFliess- Professeur (LIX)

Brigitted"Andrea-Novel- Professeur (MINES)

Membres invités :Silviu-IulianNiculescu- Directeur (L2S)

ArbenCela- Professeur (ESIEE)

GuénaëlLe Solliec- Ingénieur recherche (IFPEN)

Acknowledgments

I am deeply grateful to Professor Hugues Mounier for introducing me to the field of Vehicle Dynamics and Control and for his patience when I started working on this thesis. His advice and comments regarding my work were always helpful and enlarged my vision in the field of Automatics. At the same time, I would like to express my gratitude to Professor Silviu-Iulian Niculescu for his constructive comments and advice regarding all the scientific papers that I submitted. I would also like to thank Professor Arben Cela for the detailed analysis of my work and his helpful remarks, that brought precision and finesse into my research. Last, but not least, I would like to thank Mr. Gilles Corde and Mr. Guénaël Le Solliec for the support during my thesis research. Their implication and useful propositions helped me develop and enlarge my knowledge as engineer. As well, I am grateful for the promptitude to my requests from the part of all cited above. Their availability to help me in my research was decisive regarding the timing of the proposed objectives. I would like to thank my parents Constanta and Tenel Geamanu for their love, support and confidence in me. They helped me go through this period with ease and comfort. Also, I am grateful for the persistence and encouragements of my girlfriend Denisa Iacobescu, who helped me focus on this important phase of my life.

List of Abbreviations

2WD 4WD ABS ASR AWD CM EBD ECU EMF ESP EV FSMC HEV HIL ICE LQG MFC MTTE NPID ODE PI PID SIL SISO SSG TCS XBS

ZEVTwo Wheel DriveFour Wheel DriveAnti-lock Brake SystemAll Wheel DriveAnti-Slip RegulationCenter of MassElectronic Brake-force DistributionElectronic Control UnitElectro-Motive ForceElectronic Stability ProgramElectric vehicleFuzzy Sliding-mode ControlHybrid Electric VehicleHardware In the LoopInternal Combustion EngineLinear Quadratic GaussianModel Following ControlMaximum Transmissible Torque EstimationNon-linear Proportional Integrator DerivativeOrdinary Differential EquationProportional IntegratorProportional Integrator DerivativeSoftware In the LoopSingle Input Single OutputStart-Stop GroupTraction Control SystemExtended Braking StiffnessZero-Emission Vehicle

Nomenclature

V x x xmax F aero F x F z R x T r e m I Cd C r M m w l i c k C r G s G u h 0 K x αLongitudinal slip ratioLongitudinal vehicle speed (m/s)

Longitudinal friction

Maximum longitudinal friction

Longitudinal aerodynamic drag force (N)

Longitudinal tire force (N)

Normal force on the tire (N)

Force due to rolling resistance (N)

Wheel torque (Nm)

Angular wheel speed (rad/s)

Effective tire radius (m)

Quarter vehicle mass (Kg)

Wheel moment of inertia (Kg?m2)

Air density (Kg/m3)

Aerodynamic drag coefficient

Rolling resistance coefficient

Suspended mass pitch angle (rad)

Total mass of the vehicle (Kg)

Individual wheel mass (Kg)

Distance from the center of gravity to the axles (m)

Suspension damping coefficient (Nm)

Suspension spring coefficient (N)

Rolling resistance coefficient

Suspended center of mass

Unsuspended center of mass

Distance fromGsto the ground (m)

Longitudinal stiffness coefficient

Adaptation parameter

List of Figures

1 Adhérence typique entre la surface de route et les pneus, comme fonction

du glissement longitudinal (modèle de Pacejka [

73]).. . . . . . . . . . . 3

2 Modele de vehicule à une roue.. . . . . . . . . . . . . . . . . . . . . . 9

3 Comportement du modèle dans des phases d"accélération et de freinage.11

4 Courbes de Pacejka modelisant la friction longitudinale.. . . . . . . . . 13

5 Modélisation réaliste des courbes de Pacejka.. . . . . . . . . . . . . . . 13

6 La définition de XBS selon [17].. . . . . . . . . . . . . . . . . . . . . . 15

7 Caractéristiques de friction comparées sur les courbes de Pacejka et

Dugoff.

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

8 L"impact deKxsur les courbes de Dugoff.. . . . . . . . . . . . . . . . 17

9 Le paramètre de pondérationα.. . . . . . . . . . . . . . . . . . . . . . 17

10 Estimation exacte deαetKxsur le modèle de Dugoff comparé au

modèle de Pacejka. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

11 Vue graphique du processus d"estimation deαet deKx.. . . . . . . . 18

12 Estimation précise de la friction maximale.. . . . . . . . . . . . . . . . 22

13 Estimation précise de la friction maximale sur route avecμxmaxvariable.23

14 Suivi de friction maximale avec modélisation dynamique de conditions

de route. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

15 Estimation et contrôle de la friction sur des conditions de route variables.24

16 Zone de sécurité (zone pseudo-linéaire de courbesμ-λ).. . . . . . . . 25

17 Commande par modes glissants sans perturbation.. . . . . . . . . . . . 26

18 Commande sans modèle sans perturbation.. . . . . . . . . . . . . . . . 26

19 Comparaison entre les lois de commande en présence de perturbation.. 27

1.1 Example of internal combustion vehicle architecture [74].. . . . . . . . 39

1.2 Example of hybrid vehicle configuration [74].. . . . . . . . . . . . . . . 39

1.3 Example of bi-mode vehicle configuration [74].. . . . . . . . . . . . . . 40

1.4 Example of in-wheel electric vehicle architecture [74].. . . . . . . . . . 40

1.5 Typical adhesion characteristics between road surface and tires, as a

function of the slip ratio and road surface conditions (according to Pace- jka modeling [

73]).. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

1.6 Standard ABS control system on a ICE vehicle according to [7].. . . . 44

viList of Figures

1.7 ABS system desirable working range.. . . . . . . . . . . . . . . . . . . 45

1.8 ABS braking simulation results according to [54].. . . . . . . . . . . . 46

1.9 An example of in-wheel electric motor system [67].. . . . . . . . . . . . 50

2.1 One wheel vehicle model.. . . . . . . . . . . . . . . . . . . . . . . . . . 60

2.2 Model behavior in acceleration and braking phases.. . . . . . . . . . . 61

2.3 Top view of the described model (no roll and pitch) according to [98].. 62

2.4 Front view of the described model (no pitch) according to [98].. . . . . 63

2.5 Suspension of the described model according to [98].. . . . . . . . . . . 63

2.6 Side view of the described model according to [98].. . . . . . . . . . . 64

2.7 Side view of the model, showing the simplified suspension according to

98].. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65

2.8 Torque demand generated by the driver model.. . . . . . . . . . . . . . 70

2.9 Pacejka curves modeling the friction.. . . . . . . . . . . . . . . . . . . 72

2.10 Nonlinear behavior of the friction curves.. . . . . . . . . . . . . . . . . 74

2.11 Experimental friction estimation according to [30].. . . . . . . . . . . . 74

2.12 ParameterCinfluence on the friction curves.. . . . . . . . . . . . . . . 75

2.13 ParameterDinfluence on the friction curves.. . . . . . . . . . . . . . . 75

2.14 Realistic modelling of Pacejka curves.. . . . . . . . . . . . . . . . . . . 77

2.15 Time evolution of the state of the road and its variation.. . . . . . . . 77

3.1 Longitudinal friction estimation.. . . . . . . . . . . . . . . . . . . . . . 81

3.2 Longitudinal slip ratio estimation.. . . . . . . . . . . . . . . . . . . . . 82

3.3 Longitudinal friction and slip ratio in acceleration and braking phases.83

3.4 Load transfer in acceleration and braking phases.. . . . . . . . . . . . 84

3.5 XBS definition according to [17].. . . . . . . . . . . . . . . . . . . . . 85

3.6 Friction characteristics compared on Pacejka and Dugoff curves.. . . . 87

3.7 Impact ofKxon the friction curves based on Dugoff model.. . . . . . . 88

3.8 Weighting parameterαat the peak of longitudinal efforts built with

Pacejka and Dugoff models.

. . . . . . . . . . . . . . . . . . . . . . . . 88

3.9 Weighted and normal Dugoff evolutions compared to Pacejka model.. . 89

3.10 Underestimation ofKxand its impact on Dugoff model compared to

quotesdbs_dbs41.pdfusesText_41

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