文章基本信息

标题：A Predictive Controller for Drivability and Comfort in Multi-Motor Electric Vehicles
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作者：Di Chen ; Claus Danielson ; Stefano Di Cairano 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2021
卷号：54
期号：20
页码：650-656
DOI：10.1016/j.ifacol.2021.11.245
语种：English
出版社：Elsevier
摘要：AbstractWe present a robust rate-based model predictive control (rate-based MPC) for controlling electric vehicle (EV) with independently actuated wheels and anti-squat/lift/dive suspensions that achieves drivability, i.e., good tracking performance, improved passenger comfort, i.e., reduction of chassis lift, pitch, and roll, and increased vehicle lateral stability. The controller is validated in closed-loop with CarSim demonstrating robustness to model errors between the high-fidelity CarSim simulation and the control-oriented prediction models.
关键词：KeywordsElectric VehicleChassis ControlModel Predictive ControlRobust control