Model Predictive Direct Motion Control for Distributed Drive Electric Vehicles

For the motion of distributed drive electric vehicles, this paper deigns a novel control strategy based on model predictive control, which can longitudinal and lateral simultaneously. Different with traditional strategies containing one vehicle controller four motor controllers, treats its in-wheel motors as object uses only to realize so that costs are reduced handling performance is improved. First, an improved unified established predict future states. Considering different time constants in dynamic system electrical system, coupling predictions analyzed detail linear proposed simplify complex computation. Then, fact inverters in-wheel-motor systems have discrete finite voltage vectors, direct proposed. A cost function designed find out optimal vectors make follow desired meet constrains. Finally, deal huge amount calculation over-actuation problem caused by systems, deadbeat solution applied optimize calculation. Simulations under carried out, well directions, improve performance. practical implementation method also provided experimentally four-motor system.