Home Journals Articles Updates About
CN
image
收藏切换
Dynamic Modeling and Model Predictive Control of Distributed Electric Drive Bearing Platforms
收藏切换
PDF
Ye Yuan1, Long Chen2, Wei Pan2, Yi Li1, Zhaobo Qin2
Automobile Technology | 2025, (3) : 46 - 55
Less
收藏切换
Automobile Technology | 2025, (3): 46-55
• Special Topic on Multimodal Information Monitoring and Recognition Technologies for Human Factors in Intelligent Driving •
Dynamic Modeling and Model Predictive Control of Distributed Electric Drive Bearing Platforms
Full
Ye Yuan1, Long Chen2, Wei Pan2, Yi Li1, Zhaobo Qin2
Affiliations
  • 1 China Automotive Engineering Research Institute Co., Ltd, Chongqing 401122
  • 2 College of Mechanical and Vehicle Engineering, Hunan University, Changsha 410082
Published: 2025-03-24 doi: 10.19620/j.cnki.1000-3703.20240594
Outline
收藏切换

Aiming at the issues of low high-speed tracking accuracy and weak robustness in the trajectory tracking control of distributed electric drive bearing platforms, a hierarchical lateral motion control strategy based on desired front wheel angle tracking is designed. Taking the distributed electric drive bearing platform as the research object, a comprehensive dynamic model integrating rubber wheels, vehicle body, and electric drive modules is constructed based on the dynamic analysis of each subsystem and the interaction relationship between the wheels and the ground. By constructing a hierarchical motion control strategy with upper-level Model Predictive Control (MPC) trajectory tracking and lower-level steering motor angle control, high-precision control of the platform’s lateral position can be achieved. A holistic dynamic simulation model of the bearing platform is built using Simulink. The simulation results show that the lateral motion control strategy designed in this research can achieve multi-scenario trajectory tracking with high precision at various speeds. Compared with the sliding mode controller, the control accuracy of this strategy is improved by 33%, and the control stability is significantly enhanced.

Distributed electric drive bearing platform  /  Dynamic modeling  /  Model predictive control  /  Sliding mode control  /  Trajectory tracking
Ye Yuan, Long Chen, Wei Pan, Yi Li, Zhaobo Qin. Dynamic Modeling and Model Predictive Control of Distributed Electric Drive Bearing Platforms[J]. Automobile Technology, 2025 , (3) : 46 -55 . DOI: 10.19620/j.cnki.1000-3703.20240594
Appendix
Less
Year 2025 volume Issue 3
PDF
417
183
Cite this Article
BibTeX
Article Info
doi: 10.19620/j.cnki.1000-3703.20240594
  • Online Date：2025-11-18
  • Published：2025-03-24
Article Data
Affiliations
History
  • Revised：2024-09-20
Funding
Affiliations
    1 China Automotive Engineering Research Institute Co., Ltd, Chongqing 401122
    2 College of Mechanical and Vehicle Engineering, Hunan University, Changsha 410082
References
Share
https://castjournals.cast.org.cn/joweb/qcjs/EN/10.19620/j.cnki.1000-3703.20240594
Share to
QR

Scan QR to access full text

Cite this article
BibTeX
Citations
表12种不同金属材料的力学参数
科
Family		 属数
Number of
genus		 种数
Number of
species		 占总种数比例
Percentage of
total species (%)		 属
Genus		 种数
Number of
species		 占总种数比例
Percentage of total
species (%)
鹅膏菌科Amanitaceae 2 11 5.26 鹅膏菌属 Amanita 10 4.78
小菇科 Mycenaceae 2 12 5.74 丝盖伞属 Inocybe 5 2.39
多孔菌科 Polyporaceae 8 14 6.70 蜡蘑属 Laccaria 5 2.39
红菇科 Russulaceae 3 23 11.00 小皮伞属 Marasmius 6 2.87
小菇属 Mycena 11 5.26
光柄菇属 Pluteus 5 2.39
红菇属 Russula 17 8.13
栓菌属 Trametes 5 2.39
关闭全屏
  • BibTeX
  • EndNote
  • RefWorks
  • TxT
Links
Articles
Latest Articles
Most Read
Collections
Updates
Events
News
Multimedia
About
About Us
Contact
No. 86 Xueyuan South Road, Haidian District, Beijing
100081
010-62199257
qkjq@cast.org.cn

Copyright © 2025 China Association for Science and Technology. All rights reserved. For all open access content, the relevant licensing terms apply.
Sponsored by the Office of the Leading Group for Cybersecurity and Informatization of CAST, and supported by Science and Technology Review Publishing House