Advanced Stability Control of Electric Vehicle with Advanced Stability Control of Electric Vehicle with In In-wheel Motor and Active Steering System wheel Motor and Active Steering System In In wheel Motor and Active Steering System wheel Motor and Active Steering System Hiroshi Fujimoto ([email protected][email protected]tokyo.ac.jp ) The University of Tokyo Slide 1 http://hflab.k.u-tokyo.ac.jp/
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Advanced Stability Control of Electric Vehicle with Advanced Stability Control of Electric Vehicle with InIn--wheel Motor and Active Steering Systemwheel Motor and Active Steering SystemInIn wheel Motor and Active Steering Systemwheel Motor and Active Steering SystemHiroshi Fujimoto (([email protected]@k.u--tokyo.ac.jptokyo.ac.jp))
Dept. Advanced Energy Dept. Electrical Eng.Frontier Sciences (Kashiwa) Grad. School of Eng. (Hongo)
Research Field: Control Engineering, Motion Control, Electric Vehicle, Research Field: Control Engineering, Motion Control, Electric Vehicle, Wireless Power Transfer, Wireless Power Transfer, NanoNano--scale Servo, Power Electronics, Robotics, scale Servo, Power Electronics, Robotics,
Lab Members: 8 staffs (P, AP, Assistant P, 2 PDs, Engineer, 2 secretaries) 33 students (9 Ph.D, 19 M.S., 4 B.S., 1 R.S. , including 13 international students)students)
Principle of Driving Force EstimationPrinciple of Driving Force Estimation
mMotion Equation of WheelMotion Equation of Wheel
r
m
dRadius of wheelRadius of wheel
TJdrFTJ
dtd
dtInertia of wheelInertia of wheel
FFdd :Drive.Force:Drive.Force
Angular AccelAngular Accel
Motor torqueMotor torque
→→Measured byMeasured byInertia of wheelInertia of wheel
→→Constant Constant
Angular Accel.Angular Accel.
→→Measured byMeasured by
SensorsSensors
CurrentCurrent
Driving Force FDriving Force Fdd can be estimated by this equation. can be estimated by this equation. I t it i l l t d lti ith 0 1I t it i l l t d lti ith 0 1
l d l f ll d l f l2.2. Development and Control of Original EV FPEV2Development and Control of Original EV FPEV2--KanonKanon
3.3. Vehicle Stability Control with Wheel Side Force SensorVehicle Stability Control with Wheel Side Force Sensor
i.i. Lateral Force SensorLateral Force Sensor
iiii YawYaw rate Control by IWMs and Active Front/Rearrate Control by IWMs and Active Front/Rearii.ii. YawYaw--rate Control by IWMs and Active Front/Rear rate Control by IWMs and Active Front/Rear SteeringSteering
44 R E i C l SR E i C l S4.4. Range Extension Control SystemRange Extension Control System
Research and Development of Yaw ControlResearch and Development of Yaw Control
ESC:Electronic Stability ControlS bili h hi l i b lli b 4 h l b kSystem to stabilize the vehicle motion by controlling yaw-rate by 4 wheel brakeindependently. One of the active safety technologies. ESCs have already been implemented in many commercialize cars.
A study of dynamics performance improvement by rear right and left
implemented in many commercialize cars.
independent drive system [Sugano (Mazda)]Friction circle estimation and integrated control of 4 wheels independent dive
and 4WS [Ono (Toyota CRL)]El t i C t l T S lit 4WDElectric Control Torque Split 4WD [Nissan]Development of 4 wheel driving force control system [Mori (Honda)]Integrated Vehicle Motion Control System“S-AWC” [Miura (Mitsubishi Motors)]Motion Control of Electric Vehicle ith Tire Workload [I (B id t )]Motion Control of Electric Vehicle with Tire Workload [Iwano (Bridgestone)]Effects of Model Response on Model Following Type of Combined Lateral Force
and Yaw Moment Control Performance for Active Vehicle Handling Safety[O.Mokhiamar (Kanagawa U)]
[O o a a ( a aga a U)]Mini-max Optimal Distribution of Lateral and Driving/Braking Forces
[Nishihara (Kyoto Univ)]
Wheel Lateral Force SensorWheel Lateral Force Sensor Slip Angle
• Lateral force detection by sensors in Hub-unit• Possible to measure lateral force under suspension• Possible to measure lateral force under suspension
Velocity
Lateral Force
Normallyunknown
– Expected Big Contribution to Active Safety– Intelligent wheels by these sensors and in-wheel
l d l f ll d l f l2.2. Development and Control of Original EV FPEV2Development and Control of Original EV FPEV2--KanonKanon
3.3. Vehicle Stability Control with Wheel Side Force SensorVehicle Stability Control with Wheel Side Force Sensor
i.i. Lateral Force SensorLateral Force Sensor
iiii YawYaw rate Control by IWMs and Active Front/Rearrate Control by IWMs and Active Front/Rearii.ii. YawYaw--rate Control by IWMs and Active Front/Rear rate Control by IWMs and Active Front/Rear SteeringSteering
44 R E i C l SR E i C l S4.4. Range Extension Control SystemRange Extension Control System
Critical issues for EVsCritical issues for EVs Mileage per chargeMileage per chargeCritical issues for EVsCritical issues for EVs Mileage per chargeMileage per charge
Comparison of ICV and electric vehicleComparison of ICV and electric vehicle
・・Novel driving method by two reduction gearNovel driving method by two reduction gear [A. Sorniotti, AVEC10][A. Sorniotti, AVEC10]
Range Extension Control System: RECSRange Extension Control System: RECSTry to enhance the cruising range of EV’s by control technologiesTry to enhance the cruising range of EV’s by control technologies
(Assumption: EV has multiple motors)(Assumption: EV has multiple motors)
3 3 types of RECS types of RECS developeddeveloped••RECS I: Optimal torque RECS I: Optimal torque distributiondistribution••RECS II: Minimization the corneringRECS II: Minimization the cornering resistanceresistance
[Fujimoto, [Fujimoto, SumiyaSumiya IECON2011]IECON2011]••RECS II: Minimization the cornering RECS II: Minimization the cornering resistanceresistance••RECS III: Minimization motor output RECS III: Minimization motor output [[EgamiEgami, Fujimoto, IECON2011], Fujimoto, IECON2011]••Total optimization (RECS I + III) [Fujimoto, Total optimization (RECS I + III) [Fujimoto, EgamiEgami, IECON2012], IECON2012]p ( ) [ j ,p ( ) [ j , gg , ], ]
B ttB tt
RECS III RECS III
BatteryBattery(+ (+
Chopper)Chopper)Inv. Inv. 11 MM11
…… ……V hi lV hi l
V
Inv. Inv. 44 MM44…… ……
VehicleVehicle
Slide 28
H.FujimotoH.Fujimoto ((Univ.TokyoUniv.Tokyo))
44 44 RECS IRECS I RECS IIRECS II
RECS I: Optimal torque distributionRECS I: Optimal torque distribution
Assumption: Front and rear independent motors Straight roadAssumption: Front and rear independent motors Straight roadAssumption: Front and rear independent motors. Straight roadAssumption: Front and rear independent motors. Straight roadThe sum of the torque only needs to The sum of the torque only needs to
satisfy the driver demands.satisfy the driver demands.
29Efficiency map of motor + inverterEfficiency map of motor + inverter
Optimize overall efficiency by Optimize overall efficiency by distibutiondistibution
Experiment of RECS IExperiment of RECS IExperimental conditionsExperimental conditions
••Speed command:Speed command:••Total torque command:Total torque command:E l i hE l i h h i dh i d••Evaluation on the Evaluation on the chassis dynamometer chassis dynamometer
Collaboration with Mitsubishi Motors Front MotorFront MotorFront MotorFront Motor
Rear MotorRear Motor
Prototype PHEV with 2 onPrototype PHEV with 2 on--board motorsboard motors・・2 motors has different efficiency map.2 motors has different efficiency map.・・2 differential gears for F/R wheels2 differential gears for F/R wheels
・・2 differential gears for F/R wheels2 differential gears for F/R wheels
・・Engine is stopped. Engine is stopped. Evaluate as Battery EVEvaluate as Battery EV
EV cruising range extensionEV cruising range extensionEV cruising range extensionEV cruising range extensionCruising distance [km/kWh]Cruising distance [km/kWh] (at 50km/h constant speed)(at 50km/h constant speed)
1.52km extend per 1kWh1.52km extend per 1kWh24.2km extend per 16kWh 24.2km extend per 16kWh
RECSII: Cornering resistance minimizationRECS on curving road by left and right independent motorsRECS on curving road by left and right independent motors
c p
Mi i i f t t i lMi i i f t t i l bb N
c
Cornering resistanceCornering resistance
Minimize front steering angleMinimize front steering angle by by zN
: yaw: yaw--moment generated by driving force moment generated by driving force difference between left and right motorsdifference between left and right motors
1.1. SmallSmall--scale EV “FPEV2scale EV “FPEV2--Kanon” are designed and developed Kanon” are designed and developed with active front/rear steering and direct drive inwith active front/rear steering and direct drive in--wheel wheel motors.motors.
2.2. Control theories developed with FPEV2Control theories developed with FPEV2--Kanon was applied to Kanon was applied to the prototype EVs ofthe prototype EVs of industiresindustires..the prototype EVs of the prototype EVs of industiresindustires..
3.3. Developed technologies are available not only Battery EVs Developed technologies are available not only Battery EVs but also (Plugbut also (Plug--in) hybrid vehicles and FCEVs.in) hybrid vehicles and FCEVs.
New Developing EV (FPEV4 Sawyer) New Developing EV (FPEV4 Sawyer) Main UnitMain Unit
LiLi--ionion BatteryBattery
L/R Individual OnL/R Individual On--board Motorboard Motor(N of Turns:(N of Turns: 42T/21T)42T/21T)
InIn--wheel Motorwheel Motor(N of Turns:(N of Turns: 12T/8T)12T/8T)
SubSub--unitunit(N of Turns: (N of Turns: 42T/21T)42T/21T) (N of Turns: (N of Turns: 12T/8T)12T/8T)
Left/Right Individual OnLeft/Right Individual On--OnOn--board motor / board motor / InIn--wheel motorswheel motorsNonNon--driven Unitdriven Unit
Drive Unit in SubDrive Unit in Sub--unit which is installed both rear and frontunit which is installed both rear and front>M fi ti i d ith f i i>M fi ti i d ith f i i
=>Many configurations are examined with fair comparison=>Many configurations are examined with fair comparisonProvide common test platform (e.g. OnProvide common test platform (e.g. On--board motor + board motor + Drive shaft vibration Drive shaft vibration supressionsupression control = IWM?)control = IWM?)Active Front and Rear Steering, Steer by wireActive Front and Rear Steering, Steer by wire
Suspension geometry is tunableSuspension geometry is tunableLateral force sensorsLateral force sensors Test driveTest drive@@EV test field in KashiwaEV test field in Kashiwa