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Explicit non-linear model predictive control for electric vehicle traction control

Tavernini, Davide, Metzler, Mathias, Gruber, Patrick and Sorniotti, Aldo (2018) Explicit non-linear model predictive control for electric vehicle traction control IEEE Transactions on Control Systems Technology.

Jpaper expNMPC Traction Control DRAFT_rev.69_DT_rev.26.pdf - Accepted version Manuscript

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This study presents a traction control system for electric vehicles with in-wheel motors, based on explicit non-linear model predictive control. The feedback law, available beforehand, is described in detail, together with its variation for different plant conditions. The explicit controller is implemented on a rapid control prototyping unit, which proves the real-time capability of the strategy, with computing times in the order of microseconds. These are significantly lower than the required sampling time for a traction control application. Hence, the explicit model predictive controller can run at the same frequency as a simple traction control system based on Proportional Integral (PI) technology. High-fidelity model simulations provide: i) a performance comparison of the proposed explicit non-linear model predictive controller with a benchmark PI-based traction controller with gain scheduling and anti-windup features; and ii) a performance comparison among two explicit and one implicit non-linear model predictive controllers based on different internal models, with and without consideration of transient tire behavior and load transfers. Experimental test results on an electric vehicle demonstrator are shown for one of the explicit non-linear model predictive controller formulations.

Item Type: Article
Divisions : Faculty of Engineering and Physical Sciences > Mechanical Engineering Sciences
Authors :
Date : 20 June 2018
DOI : 10.1109/TCST.2018.2837097
Copyright Disclaimer : © 2018 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works
Uncontrolled Keywords : traction control, wheel slip, model predictive control, PI control, electric vehicle, in-wheel motors.
Depositing User : Melanie Hughes
Date Deposited : 22 May 2018 10:10
Last Modified : 27 Jul 2018 07:52

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