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research-article

Handling Delays in Yaw Rate Control of Electric Vehicles using MPC with Experimental Verification

[+] Author and Article Information
Milad Jalali

Mechanical Engineering Department, University of Waterloo, Waterloo ON N2L 3G1, Canada
mjalaliy@uwaterloo.ca

Amir Khajepour

Mechanical Engineering Department, University of Waterloo, Waterloo ON N2L 3G1, Canada
a.khajepour@uwaterloo.ca

Shih-ken Chen

Global Research and Development Center, General Motors Company, Warren, MI 48090-9055
shih-ken.chen@gm.com

Bakhtiar B. Litkouhi

Global Research and Development Center, General Motors Company, Warren, MI 48090-9055
bakhtiar.litkouhi@gm.com

1Corresponding author.

ASME doi:10.1115/1.4037166 History: Received September 04, 2015; Revised June 20, 2017

Abstract

In this paper, a new approach is proposed to deal with the delay in vehicle stability control using model predictive control (MPC). The vehicle considered here is a rear-wheel drive electric (RWD) vehicle. The yaw rate response of the vehicle is modified by means of torque vectoring so that it tracks the desired yaw rate. Presence of delay in a control loop can severely degrade controller performance and even cause instability. The common approaches for handling delay are often complex in design and tuning or require an increase in the dimensions of the controller. The proposed method is easy to implement and does not entail complex design or tuning process. Moreover, it does not increase the complexity of the controller, therefore the amount of online computations is not appreciably affected. The effectiveness of the proposed method is verified by means of CarSim/Simulink simulations as well as experiments with a rear-wheel drive electric SUV. The simulation results show that the proposed method can significantly reduce the adverse effect of the delay in the control loop. Experimental tests with the same vehicle also confirm the effectiveness of this technique. Although this method is applied to a vehicle stability control, it is not specific to a certain class of problems and can be easily applied to a wide range of model predictive control problems with known delays.

Copyright (c) 2017 by ASME
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