Péter Gáspár

36142968300

Publications - 2

Hierarchical robust control for in-wheel motor vehicles

Tímea Fülep Péter Gáspár András Mihály Zoltán Szabó Ferenc Szauter J. Bokor

Publication Name: Proceedings of the Mini Conference on Vehicle System Dynamics Identification and Anomalies

Publication Date: 2014-01-01

Volume: 2014-January

Issue: Unknown

Page Range: 71-81

Description:

The paper proposes the design of an integrated vehicle control system for in-wheel electric vehicle, which is able to track road geometry with a predefined reference velocity. In the design the lateral and longitudinal dynamics are combined using the in-wheel motors and the steering system. The design methodology of the hierarchical control is proposed. The required control signals are calculated by applying high-level controllers, which are designed using a robust control method. For the control design the model is augmented with weighting functions specified by the performance demands. The actuators generating the necessary control signals in order to achieve the requirements for which low-level tracking controllers are designed.

Open Access: Yes

DOI: DOI not available

Robust reconfigurable control for in-wheel motor vehicles

Tímea Fülep Péter Gáspár András Mihály Zoltán Szabó Ferenc Szauter J. Bokor

Publication Name: 2014 IEEE International Electric Vehicle Conference Ievc 2014

Publication Date: 2014-01-01

Volume: Unknown

Issue: Unknown

Page Range: Unknown

Description:

The paper deals with reconfigurable control of in-wheel electric vehicles. Basically the vehicle is controlled alone by the four electric engines mounted in the wheels of the vehicle. The goal is to design a control system with velocity and trajectory tracking ability realized by separate torque generation of the in-wheel motors. In critical driving situations when the yaw moment cannot be established with the four in-wheel engine alone, the high-level controller reconfigures the actuator inputs, thus steering intervention helps to stabilize the vehicle. Moreover, a multi-layer supervisory architecture for integrated control systems is also proposed. The operation of the vehicle is illustrated through a CarSim simulation example.

Open Access: Yes

DOI: 10.1109/IEVC.2014.7056232