Control-Configured-Vehicle Design and Implementation on an X-by-Wire Electric Vehicle

摘要

To improve the structure layout flexibility and performance of the X-by-wire (XBW) ground vehicle, the control configured vehicle (CCV) principle is implemented on an XBW electric vehicle in this paper. By including the electric control system design together with the mechanical component design for the final layout, the CCV enhances the structure layout flexibility of the XBW ground vehicle considerably. Under the CCV principle, the closed-loop stability of the vehicle lateral dynamics system is improved by the involved yaw control system. In this paper, a robust pole assignment yaw controller with the consideration of parametric uncertainties is used. A full XBW electric vehicle testbed is shown as an example to demonstrate the benefit of the CCV of improving the hardware layout flexibility. Under the CCV, all the XBW components can be located flexibly to any position to enhance the configuration of the electric wires, saving of the space, and convenience of the assembling. The discussion of the yaw moment demand in different cases shows how the mechanical components and electric control systems influence and benefit each other in the CCV. The experiments based on the testbed show the desirable efficiency of the proposed yaw controller.