A Real-time Nonlinear Model Predictive Controller for Yaw Motion Optimization of Distributed Drive Electric Vehicles

GUO, Ningyuan, LENZO, Basilio, ZHANG, Xudong, ZOU, Yuan, ZHAI, Ruiqing and ZHANG, Tao (2020). A Real-time Nonlinear Model Predictive Controller for Yaw Motion Optimization of Distributed Drive Electric Vehicles. IEEE Transactions on Vehicular Technology, p. 1.

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Official URL: https://ieeexplore.ieee.org/document/9033968
Link to published version:: https://doi.org/10.1109/tvt.2020.2980169


This paper proposes a real-time nonlinear model predictive control (NMPC) strategy for direct yaw moment control (DYC) of distributed drive electric vehicles (DDEVs). The NMPC strategy is based on a control-oriented model built by integrating a single track vehicle model with the Magic Formula (MF) tire model. To mitigate the NMPC computational cost, the continuation/generalized minimal residual (C/GMRES) algorithm is employed and modified for real-time optimization. Since the traditional C/GMRES algorithm cannot directly solve the inequality constraint problem, the external penalty method is introduced to transform inequality constraints into an equivalently unconstrained optimization problem. Based on the Pontryagin’s minimum principle (PMP), the existence and uniqueness for solution of the proposed C/GMRES algorithm are proven. Additionally, to achieve fast initialization in C/GMRES algorithm, the varying predictive duration is adopted so that the analytic expressions of optimally initial solutions in C/GMRES algorithm can be derived and gained. A Karush-Kuhn-Tucker (KKT) condition based control allocation method distributes the desired traction and yaw moment among four independent motors. Numerical simulations are carried out by combining CarSim and Matlab/Simulink to evaluate the effectiveness of the proposed strategy. Results demonstrate that the real-time NMPC strategy can achieve superior vehicle stability performance, guarantee the given safety constraints, and significantly reduce the computational efforts.

Item Type: Article
Additional Information: © 2020 IEEE.  Personal use of this material is permitted.  Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.”
Uncontrolled Keywords: Automobile Design & Engineering; 08 Information and Computing Sciences; 09 Engineering; 10 Technology
Identification Number: https://doi.org/10.1109/tvt.2020.2980169
Page Range: p. 1
SWORD Depositor: Symplectic Elements
Depositing User: Symplectic Elements
Date Deposited: 16 Mar 2020 11:36
Last Modified: 18 Mar 2021 01:53
URI: https://shura.shu.ac.uk/id/eprint/25982

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