Wheel Torque Allocation Control for Multi-Actuator Recuperation
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Solution Overview
Problem
Existing systems for controlling wheels in vehicles with multiple torque actuators, such as electric motors and service brakes, require complex central control to manage torque allocation, making the task more complicated than necessary.
Innovation Solution
A system where a primary controller sends a rough idea of desired torque splits or regenerative braking levels to secondary controllers at each wheel, allowing them to make final decisions on torque allocation between actuators based on predefined criteria, simplifying the central control task.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a central controller manages torque allocation for multiple actuators at each wheel, then torque control can be achieved, but the complexity of the control system increases significantly
Solution Approach 1:
The control system is segmented into a central controller that handles high-level torque requests and wheel-specific control modules that handle local torque allocation. This segmentation allows the central controller to focus on overall vehicle dynamics while local modules manage the complexity of multiple actuators at each wheel, thereby maintaining torque control reliability while reducing central controller complexity.
Solution Approach 2:
Each wheel is equipped with its own control module that has local knowledge of the actuators connected to it. This local quality enables the control module to make optimal torque allocation decisions based on local conditions and actuator capabilities, reducing the need for complex centralized decision-making while ensuring reliable torque control.
2Measurement precision
If the central controller allocates torque requests to each actuator individually, then precise torque control is achieved, but the control task becomes more complicated
Solution Approach 1:
A wheel-specific control module acts as an intermediary between the central controller and the multiple actuators at each wheel. This intermediary receives torque requests from the central controller and automatically performs the allocation to individual actuators based on local conditions and actuator capabilities. This intermediary approach maintains precise torque control while significantly simplifying the control task for the central controller.
3Adaptability or versatility
If the central controller considers both service brake actuator and electric motor actuator as separate actuators, then comprehensive torque management is achieved, but the control complexity increases
Solution Approach 1:
The control module at each wheel merges the control of multiple actuator types (service brake, electric motor, regenerative brake) into a unified local control function. This merging allows comprehensive torque management across different actuator types while consolidating the control logic at the wheel level, thereby maintaining adaptability and versatility while reducing overall control complexity.
Data Source
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AI summary
The invention relates to a system for controlling a wheel of a vehicle provided with at least two torque actuators for providing a torque to the wheel. The system comprises a vehicle control unit, VCU, and a control module, CM, configured to control the torque actuators. The VCU is configured to send to the CM a parameter request and a desired recuperation power or a desired parameter split ratio. If the CM determines that these are conflicting targets, then based on one or more predefined criteria, the CM will apply a parameter value and allocate a recuperation power or a parameter split ratio such that the applied parameter value is different from the requested one and/or the allocated recuperation power or parameter split ratio is different from the desired one. A method of controlling a wheel is also disclosed.