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International Journal of Automotive Technology > Volume 21(2); 2020 > Article
International Journal of Automotive Technology 2020;21(2): 493-502.
doi: https://doi.org/10.1007/s12239-020-0046-3
MODEL PREDICTIVE CONTROL OF AN ALL-WHEEL DRIVE VEHICLE CONSIDERING INPUT AND STATE CONSTRAINTS
Hojin Jung1, Beomjoon Pyun2, Seibum Choi1
1KAIST
2Korea Automotive Technology Institute
PDF Links Corresponding Author.  Seibum Choi , Email. sbchoi@kaist.ac.kr
ABSTRACT
This paper suggests a novel model-based control scheme for an all-wheel drive (AWD) vehicle. Using transfer case, AWD system is able to transfer the engine torque to all the wheels mechanically, helping the vehicle to maintain traction on a slippery road or to climb a hill. Recently, an active type AWD system that is able to control the torque transmitted through transfer case continuously by the aid of electronic clutch actuator has become popular. In order to realize preemptive operation which is necessary property for AWD system while simultaneously considering states and input constraints which is originated from mechanical and physical characteristics, this paper adopted model predictive control (MPC) concept. The proposed MPC-based controller was designed by using planar full-car model that is based on tire force and motion states, which represents the direct relationship between these states and control input. Therefore, the planar full-car model contributed the suggested controller to follow standard MPC design process. The target states of longitudinal wheel slip and yaw rate, which have commonly been adopted in previous studies, were selected for practical concerns. The advantages of the suggested MPCbased controller that is designed especially for an AWD system were validated by conducting simulations through a Simulink-CarSim-based AWD vehicle model.
Key Words: All-wheel drive, Transfer case, Vehicle dynamics control, Model predictive control, Constrained system
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