Hybrid Electric Vehicle Design and Control: Intelligent Omnidirectional Hybrids

by Yangsheng Xu, Jingyu Yan, Huihuan Qian, Tin Lun Lam

Overview

Build state-of-the-art intelligent omnidirectional HEVs

Engineer high-performance, low-emission automobiles by overcoming traditional obstacles and efficiently harnessing energy from multiple sources. Hybrid Electric Vehicle Design and Control features complete coverage of all electrical, mechanical, and software components. Find out how to develop fast-charging battery systems, efficiently manage power, implement independent steering and force control, and enhance driving stability and controllability. This comprehensive guide offers detailed modeling, testing, and tuning techniques and provides an overview of emerging developments in hybrid technologies.

Coverage includes:

• 4WIS and 4WID hardware and software
• Hybrid vehicle design structures
• Zero-radius turning and lateral parking
• Steer-by-wire and extended steering
• Behavior-based and zero-radius steering
• Traction force distribution and stability
• Battery, energy, and power management systems
• Cell equalization and fast-charging control
• MPC, load forecasting, and neural network classifi cation
• Best performance techniques

Product Details

ISBN-13:	9780071826822
Publisher:	McGraw Hill LLC
Publication date:	09/22/2013
Sold by:	Barnes & Noble
Format:	eBook
Pages:	304
File size:	15 MB
Note:	This product may take a few minutes to download.

About the Author

Yangsheng Xu is Chair Professor and Pro-Vice Chancellor of the Chinese University of Hong Kong. He is a professor of Automation and Computer-Aided Engineering, specializing in robotics, dynamics and control, and manufacturing.

Jingyu Yan is a research associate of the Chinese University of Hong Kong, specializing in electric vehicles, battery management system, and predictive control.

Huihuan Qian is a research assistant professor of the Chinese University of Hong Kong, specializing in robotics, dynamics and control, and omni-directional vehicles.

Tin Lun Lam is a research associate of the Chinese University of Hong Kong, specializing in robotics, human-machine interface, and intelligent control.

Table of Contents

Preface xi

1 Introduction 1

1.1 Background 3

1.2 Objectives 7

1.3 Outline of the Book 8

2 System Design and Implementation 11

2.1 Configuration 13

2.1.1 Zero Radius Turning 15

2.1.2 Lateral Parking 17

2.1.3 Front-Wheel Steering 17

2.2 System Design 18

2.2.1 Mechanical Design 19

2.2.2 Electric Design 20

2.2.3 Positioning of Steering Angles 22

2.2.4 Software 23

2.2.5 User Interface 25

2.3 Implementation and Testing 25

2.4 Summary 27

3 Four-Wheel Independent Steering Control 29

3.1 Modeling 31

3.1.1 Vehicle Body 31

3.1.2 Tire 33

3.1.3 Steering Actuator 33

3.2 Extended Steering Interface 35

3.2.1 Interface Design 35

3.2.2 Defining Target ICR 36

3.2.3 Defining Target Orientations of Wheels 38

3.2.4 Hardware Prototype 39

3.3 Force Feedback Control 40

3.3.1 Defining Current Steering Condition 40

3.3.2 Force Feedback Reference 42

3.3.3 Motor Torque Control 43

3.3.4 Structure of Force Feedback Controller 43

3.4 Behavior-Based Steering Controller 44

3.4.1 Position Error 44

3.4.2 Kinematic Constraint Error 44

3.4.3 Structure of Behavior-Based Steering Controller 45

3.4.4 Stability Analysis 46

3.5 Simulations and Experiments 48

3.5.1 Structure of Simulation Environment 48

3.5.2 Steering Motion Simulation 49

3.5.3 Force Feedback Simulation 49

3.5.4 Steering Behavior 51

3.5.5 Path Tracking 52

3.5.6 Driving Efficiency 53

3.6 Summary 54

4 Four-Wheel Independent Force Control 57

4.1 Traction Force Distribution 59

4.1.1 Deterministic Force Generation 61

4.1.2 Optimal Traction Force Distribution 67

4.1.3 Performance Analysis 69

4.2 Direct Yaw Moment Control 73

4.2.1 Deterministic Yaw Moment Control 75

4.2.2 Feedforward and Feedback Control 80

4.2.3 Performance Analysis 82

4.3 Summary 88

5 Battery Management System 91

5.1 Hardware Design 93

5.1.1 System Structure and Function Analysis 95

5.2 Robust State of Charge Estimation 110

5.2.1 Framework Overview 110

5.2.2 Current Denoising 111

5.2.3 Current Zero-Drift Reduction 118

5.2.4 Simulation: RC Model and H_∞ Filter 124

5.2.5 Experiment and Application: Modified ESC Model and Extended Kalman Filter 131

5.2.6 Data Fusion and Overall Performance 143

5.3 Fast-Charging Controller 145

5.3.1 Framework Overview 146

5.3.2 Predictive Models 147

5.3.3 Formulation under Model Predictive Control Framework 152

5.3.4 Optimization Using Genetic Algorithm 154

5.3.5 Performance Demonstration 157

5.4 Battery Equalization 163

5.4.1 Equalizing Circuit and Analysis 165

5.4.2 Fuzzy Equalization Based on State of Charge 172

5.4.3 Application Results 176

5.5 Summary 182

6 Energy Management System 185

6.1 Modeling of Series Electric Vehicle 187

6.1.1 Main Components 189

6.1.2 4WIS Series Electric Vehicle 201

61.3 Building Up and Analysis 201

6.2 Load Forecasting 205

6.2.1 Definition of Load Level 206

6.2.2 CNN-NDEKF-Based Forecasting 210

6.2.3 Simulation Study 214

6.3 Energy Management 217

6.3.1 Performance Criteria Selection 219

6.3.2 Model Predictive Control Approach 220

6.3.3 Particle Swarm Optimization 226

6.4 Experiments and Analysis 235

6.4.1 Pure Electrical Experiment 235

6.4.2 Thermostat Control Experiment 237

6.4.3 MPC-LFS Experiment 241

6.4.4 Comparisons 243

6.5 Summary 245

7 Conclusions 247

7.1 Advancement in Vehicle Technology with State-of-the-Art Robotics Research 249

7.2 Omnidirectional Vehicle Structure Supporting 4WIS and 4WID 250

7.3 Intelligent Battery Management System Specialized for HEV 251

7.4 Intelligent Energy Management System Specialized for HEV 252

Abbreviations 255

References 259

Index 269