Decentralized Dynamic Event-Triggered Communication and Active Suspension Control of In-Wheel Motor Driven Electric Vehicles with Dynamic Damping

作     者：Iftikhar Ahmad Xiaohua Ge Qing-Long Han Iftikhar Ahmad;Xiaohua Ge;Qing-Long Han

作者机构：the School of Software and Electrical EngineeringSwinburne University of TechnologyMelbourneVIC 3122Australia 

出 版 物：《IEEE/CAA Journal of Automatica Sinica》 (自动化学报（英文版）)

年 卷 期：2021年第8卷第5期

页      面：971-986页

核心收录：

学科分类：08[工学] 0807[工学-动力工程及工程热物理] 

主　　题：Active suspension control decentralized eventtriggered control dynamic damper dynamic eventtriggered communication in-wheel motor driven electric vehicle 

摘      要：This paper addresses the co-design problem of decentralized dynamic event-triggered communication and active suspension control for an in-wheel motor driven electric vehicle equipped with a dynamic damper. The main objective is to simultaneously improve the desired suspension performance caused by various road disturbances and alleviate the network resource utilization for the concerned in-vehicle networked suspension system. First, a T-S fuzzy active suspension model of an electric vehicle under dynamic damping is established. Second,a novel decentralized dynamic event-triggered communication mechanism is developed to regulate each sensor s data transmissions such that sampled data packets on each sensor are scheduled in an independent manner. In contrast to the traditional static triggering mechanisms, a key feature of the proposed mechanism is that the threshold parameter in the event trigger is adjusted adaptively over time to reduce the network resources occupancy. Third, co-design criteria for the desired event-triggered fuzzy controller and dynamic triggering mechanisms are derived. Finally, comprehensive comparative simulation studies of a 3-degrees-of-freedom quarter suspension model are provided under both bump road disturbance and ISO-2631 classified random road disturbance to validate the effectiveness of the proposed co-design approach. It is shown that ride comfort can be greatly improved in either road disturbance case and the suspension deflection, dynamic tyre load and actuator control input are all kept below the prescribed maximum allowable limits, while simultaneously maintaining desirable communication efficiency.