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Design and Validation of an MPC-based Torque Blending and Wheel Slip Control Strategy

Satzger, Clemens and de Castro, Ricardo and Knoblach, Andreas and Brembeck, Jonathan (2016) Design and Validation of an MPC-based Torque Blending and Wheel Slip Control Strategy. In: 2016 IEEE Intelligent Vehicles Symposium (IV). IEEE. Intelligent Vehicles Symposium, 19.6.16, Gothenburg.

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This article presents a braking control algorithm for electric vehicles endowed with redundant actuators, i.e. friction brakes and wheel-individual electric motors. This algorithm relies on a model predictive control framework and is able to optimally split the wheel braking torque among the redundant actuators, while providing anti-lock braking features (i.e. wheel slip regulation). It will be shown that, the integration of these two control functions together with energy metrics, actuator constraints and Dynamics improves the control performance compared to state-of-art control structures. Additionally, experimental measurements recorded with our prototype vehicle demonstrate a precise wheel slip regulation and high energy efficiency of the proposed braking control methodology.

Item URL in elib:https://elib.dlr.de/105030/
Document Type:Conference or Workshop Item (Poster)
Title:Design and Validation of an MPC-based Torque Blending and Wheel Slip Control Strategy
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Satzger, ClemensClemens.Satzger (at) dlr.deUNSPECIFIED
de Castro, RicardoRicardo.DeCastro (at) dlr.deUNSPECIFIED
Knoblach, AndreasAndreas.Knoblach (at) DLR.deUNSPECIFIED
Brembeck, Jonathanjonathan.brembeck (at) dlr.deUNSPECIFIED
Date:19 June 2016
Journal or Publication Title:2016 IEEE Intelligent Vehicles Symposium (IV)
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
Keywords:wheel slip control; model predictive control; brake blending; recuperation; hybrid braking; electric vehicles
Event Title:Intelligent Vehicles Symposium
Event Location:Gothenburg
Event Type:international Conference
Event Dates:19.6.16
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - Vorhaben Intelligente Mobilität (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of System Dynamics and Control > Vehicle System Dynamics
Deposited By: Satzger, Clemens
Deposited On:12 Jul 2016 13:26
Last Modified:25 Jan 2017 17:23

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