A novel real-time predictive control strategy is proposed for path following(PF)and vehicle stability of autonomous electric vehicles under extreme drive conditions.The investigated vehicle configuration is a distribu...A novel real-time predictive control strategy is proposed for path following(PF)and vehicle stability of autonomous electric vehicles under extreme drive conditions.The investigated vehicle configuration is a distributed drive electric vehicle,which allows to independently control the torques of each in-wheel motor(IWM)for superior stability,but bringing control com-plexities.The control-oriented model is established by the Magic Formula tire function and the single-track vehicle model.For PF and direct yaw moment control,the nonlinear model predictive control(NMPC)strategy is developed to minimize PF tracking error and stabilize vehicle,outputting front tires’lateral force and external yaw moment.To mitigate the calcu-lation burdens,the continuation/general minimal residual algorithm is proposed for real-time optimization in NMPC.The relaxation function method is adopted to handle the inequality constraints.To prevent vehicle instability and improve steering capacity,the lateral velocity differential of the vehicle is considered in phase plane analysis,and the novel stable bounds of lateral forces are developed and online applied in the proposed NMPC controller.Additionally,the Lyapunov-based constraint is proposed to guarantee the closed-loop stability for the PF issue,and sufficient conditions regarding recursive feasibility and closed-loop stability are provided analytically.The target lateral force is transformed as front steering angle command by the inversive tire model,and the external yaw moment and total traction torque are distributed as the torque commands of IWMs by optimization.The validations prove the effectiveness of the proposed strategy in improved steering capacity,desirable PF effects,vehicle stabilization,and real-time applicability.展开更多
Coal and carbon-containing waste are valuable primary and secondary carbon carriers.In the current dominant linear economy,such carbon resources are generally combusted to produce electricity and heat and as a way to ...Coal and carbon-containing waste are valuable primary and secondary carbon carriers.In the current dominant linear economy,such carbon resources are generally combusted to produce electricity and heat and as a way to resolve a nation’s waste issue.Not only is this a wastage of precious carbon resources,which can be chemically utilized as raw materials for production of other value-added goods,it is also contrary to international efforts to reduce carbon emissions and increase resource efficiency and conservation.This article presents a concept to support the transformation from a linear‘one-way cradle to grave manufacturing model’toward a circular carbon economy.The development of new and sustainable value chains through the utilization of coal and waste as alternative raw materials for the chemical industry via a coupling of the energy,chemical and waste management sectors offers a viable and future-oriented perspective for closing the carbon cycle.Further benefits also include a lowering of the carbon footprint and increasing resource efficiency and conservation of primary carbon resources.In addition,technological innovations and developments that are necessary to support a successful sector coupling will be identified.To illustrate our concept,a case analysis of domestic coal and waste as alternative feedstock to imported crude oil for chemical production in Germany will be presented.Last but not least,challenges posed by path dependency along technological,institutional and human dimensions in the sociotechnical system for a successful transition toward a circular carbon economy will be discussed.展开更多
基金supported by the Natural Science Foundation of Beijing(Grant No.3212013)by the National Natural Science Foundation of China(Grant No.51805030)in part by the National Natural Science Foundation of China(Grant No.51775039).
文摘A novel real-time predictive control strategy is proposed for path following(PF)and vehicle stability of autonomous electric vehicles under extreme drive conditions.The investigated vehicle configuration is a distributed drive electric vehicle,which allows to independently control the torques of each in-wheel motor(IWM)for superior stability,but bringing control com-plexities.The control-oriented model is established by the Magic Formula tire function and the single-track vehicle model.For PF and direct yaw moment control,the nonlinear model predictive control(NMPC)strategy is developed to minimize PF tracking error and stabilize vehicle,outputting front tires’lateral force and external yaw moment.To mitigate the calcu-lation burdens,the continuation/general minimal residual algorithm is proposed for real-time optimization in NMPC.The relaxation function method is adopted to handle the inequality constraints.To prevent vehicle instability and improve steering capacity,the lateral velocity differential of the vehicle is considered in phase plane analysis,and the novel stable bounds of lateral forces are developed and online applied in the proposed NMPC controller.Additionally,the Lyapunov-based constraint is proposed to guarantee the closed-loop stability for the PF issue,and sufficient conditions regarding recursive feasibility and closed-loop stability are provided analytically.The target lateral force is transformed as front steering angle command by the inversive tire model,and the external yaw moment and total traction torque are distributed as the torque commands of IWMs by optimization.The validations prove the effectiveness of the proposed strategy in improved steering capacity,desirable PF effects,vehicle stabilization,and real-time applicability.
基金This research is supported by the German Federal Ministry of Education and Research(BMBF)through the research project grant no.01LN1713A.Any opinions,findings,conclusions and recommendations in the document are those of the authors and do not necessarily reflect the view of the BMBF.
文摘Coal and carbon-containing waste are valuable primary and secondary carbon carriers.In the current dominant linear economy,such carbon resources are generally combusted to produce electricity and heat and as a way to resolve a nation’s waste issue.Not only is this a wastage of precious carbon resources,which can be chemically utilized as raw materials for production of other value-added goods,it is also contrary to international efforts to reduce carbon emissions and increase resource efficiency and conservation.This article presents a concept to support the transformation from a linear‘one-way cradle to grave manufacturing model’toward a circular carbon economy.The development of new and sustainable value chains through the utilization of coal and waste as alternative raw materials for the chemical industry via a coupling of the energy,chemical and waste management sectors offers a viable and future-oriented perspective for closing the carbon cycle.Further benefits also include a lowering of the carbon footprint and increasing resource efficiency and conservation of primary carbon resources.In addition,technological innovations and developments that are necessary to support a successful sector coupling will be identified.To illustrate our concept,a case analysis of domestic coal and waste as alternative feedstock to imported crude oil for chemical production in Germany will be presented.Last but not least,challenges posed by path dependency along technological,institutional and human dimensions in the sociotechnical system for a successful transition toward a circular carbon economy will be discussed.
