Wanke Cao

Bio: Wanke Cao is an academic researcher from Beijing Institute of Technology. The author has contributed to research in topics: Computer science & Control system. The author has an hindex of 6, co-authored 8 publications receiving 80 citations.

Direct Yaw-Moment Control of All-Wheel-Independent-Drive Electric Vehicles with Network-Induced Delays through Parameter-Dependent Fuzzy SMC Approach

Abstract: This paper investigates the robust direct yaw-moment control (DYC) through parameter-dependent fuzzy sliding mode control (SMC) approach for all-wheel-independent-drive electric vehicles (AWID-EVs) subject to network-induced delays. AWID-EVs have obvious advantages in terms of DYC over the traditional centralized-drive vehicles. However it is one of the most principal issues for AWID-EVs to ensure the robustness of DYC. Furthermore, the network-induced delays would also reduce control performance of DYC and even deteriorate the EV system. To ensure robustness of DYC and deal with network-induced delays, a parameter-dependent fuzzy sliding mode control (FSMC) method based on the real-time information of vehicle states and delays is proposed in this paper. The results of cosimulations with Simulink® and CarSim® demonstrate the effectiveness of the proposed controller. Moreover, the results of comparison with a conventional FSMC controller illustrate the strength of explicitly dealing with network-induced delays.

Speed Synchronization Control for Integrated Automotive Motor-Transmission Powertrains Over CAN Through a Co-Design Methodology

Abstract: This paper deals with the speed synchronization controller design for networked integrated motor-transmission (IMT) powertrains via controller area network (CAN). It is well known that, in current implementations, CAN has been widely used in the control system design of automotive powertrains. However, on the other hand, the application of CAN would not only lead to network-induced delays but also bring about protocol constrains, e.g., data package capability and utilization ratio limitation, which would deteriorate the system and make the controller design a challenging problem. This paper is to provide a co-design methodology that can cope with all these problems and ensure satisfactory control effect for the speed synchronization control of IMT powertrain systems. First, a networked IMT powertrain system using CAN as underlying network is presented and the dynamic model for the speed synchronization control is derived. Second, the network-induced delay model is introduced and improved considering data packet capability and utilization ratio limitation. The control-orient discrete-time model is also derived based on the improved delay model. Third, a co-design methodology using sliding mode controller and offline priority scheduling based on Lyapunov stability criterion is proposed. The results of simulations and tests show the effectiveness of the proposed co-design methodology.

Co-Design Based Lateral Motion Control of All-Wheel-Independent-Drive Electric Vehicles with Network Congestion

Abstract: All-wheel-independent-drive electric vehicles (AWID-EVs) have considerable advantages in terms of energy optimization, drivability and driving safety due to the remarkable actuation flexibility of electric motors. However, in their current implementations, various real-time data in the vehicle control system are exchanged via a controller area network (CAN), which causes network congestion and network-induced delays. These problems could lead to systemic instability and make the system integration difficult. The goal of this paper is to provide a design methodology that can cope with all these challenges for the lateral motion control of AWID-EVs. Firstly, a continuous-time model of an AWID-EV is derived. Then an expression for determining upper and lower bounds on the delays caused by CAN is presented and with which a discrete-time model of the closed-loop CAN system is derived. An expression on the bandwidth utilization is introduced as well. Thirdly, a co-design based scheme combining a period-dependent linear quadratic regulator (LQR) and a dynamic period scheduler is designed for the resulting model and the stability criterion is also derived. The results of simulations and hard-in-loop (HIL) experiments show that the proposed methodology can effectively guarantee the stability of the vehicle lateral motion control while obviously declining the network congestion.

An Overview of Vehicular Communications

Abstract: The transport sector is commonly subordinate to several issues, such as traffic congestion and accidents. Despite this, in recent years, it is also evolving with regard to cooperation between vehicles. The fundamental objective of this trend is to increase road safety, attempting to anticipate the circumstances of potential danger. Vehicle-to-Vehicle (V2V), Vehicle-to-Infrastructure (V2I) and Vehicle-to-Everything (V2X) technologies strive to give communication models that can be employed by vehicles in different application contexts. The resulting infrastructure is an ad-hoc mesh network whose nodes are not only vehicles but also all mobile devices equipped with wireless modules. The interaction between the multiple connected entities consists of information exchange through the adoption of suitable communication protocols. The main aim of the review carried out in this paper is to examine and assess the most relevant systems, applications, and communication protocols that will distinguish the future road infrastructures used by vehicles. The results of the investigation reveal the real benefits that technological cooperation can involve in road safety.

Robust Lateral Motion Control for In-Wheel-Motor-Drive Electric Vehicles With Network Induced Delays

Abstract: In this article, a robust control scheme for an in-wheel-motor-drive electric vehicle (IWMD EV) is put forward to enhance vehicle lateral stability considering network-induced time delays. A robust sliding mode controller (RSMC) is devised, and the derived control law is partitioned into two portions, i.e., the continuous and discontinuous parts. A Linear-Quadratic-Regulator (LQR) problem with network-induced time delays is formulated with the objectives of minimizing the reference states tracking errors and reducing the control efforts. Then, it is transformed into an iterative solution derivation of a two-point boundary value problem without delays, and the derived solution is obtained and constitutes the continuous part of the control law. Meanwhile, the global sliding mode theory is applied to deriving the discontinuous part of the control law, which has robustness to vehicle parameters variation and modeling uncertainties. The proposed control scheme exhibits better performance in dealing with network-induced time delays compared with the original optimal LQR controller in simulation and Hardware-in-the-Loop (HIL) tests.