Systems and methods for ride control blending in electric vehicles
A system for performing ride control blending in an electric vehicle may include a control distribution module, a torque control module, and a vertical force control module. The control distribution module may calculate a torque control demand and a vertical force control demand associated with a wheel of the vehicle based on a generalized vertical force, a pitch moment, and a roll moment associated with a body of the vehicle. The torque control module may adjust torque applied by an electric motor to the wheel based on the torque control demand. The vertical force control module may adjust vertical force applied by a suspension actuator to the wheel based on the vertical force control demand.
1. A system for performing ride control blending in an electric vehicle, comprising:
a control distribution module that calculates a torque control demand and a vertical force control demand associated with a wheel of the vehicle based on a generalized vertical force, a pitch moment, and a roll moment associated with a body of the vehicle;
a torque control module that adjusts torque applied by an electric motor to the wheel based on the torque control demand;
a vertical force control module that adjusts vertical force applied by a suspension actuator to the wheel based on the vertical force control demand; and
a comparison module that calculates the generalized vertical force, pitch moment, and roll moment associated with the body of the vehicle based on:
respective differences between actual vertical parameter values associated with the body of the vehicle and reference vertical parameter values associated with the body of the vehicle;
respective differences between actual pitch parameter values associated with the body of the vehicle and reference pitch parameter values associated with the body of the vehicle; and
respective differences between actual roll parameter values associated with the body of the vehicle and reference roll parameter values associated with the body of the vehicle.
2. The system of claim 1 , wherein:
the actual vertical parameters comprise an actual vertical displacement, an actual vertical rate, and an actual vertical acceleration; and
the reference vertical parameters comprise a reference vertical displacement, a reference vertical rate, and a reference vertical acceleration.
3. The system of claim 1 , wherein:
the actual pitch parameters comprise an actual pitch angle, an actual pitch rate, and an actual pitch acceleration; and
the reference pitch parameters comprise a reference pitch angle, a reference pitch rate, and a reference pitch acceleration.
4. The system of claim 1 , wherein:
the actual roll parameters comprise an actual roll angle, an actual roll rate, and an actual roll acceleration; and
the reference roll parameters comprise a reference roll angle, a reference roll rate, and a reference roll acceleration.
5. The system of claim 1 , further comprising:
a reference vehicle module that calculates the reference vertical parameter values, the reference pitch parameter values, and the reference roll parameter values based on:
an accelerator pedal displacement from a baseline accelerator pedal position;
a brake pedal displacement from a baseline brake pedal position; and
a steering wheel angle.
6. The system of claim 1 , further comprising:
an actual vehicle module that calculates the actual vertical parameter values, the actual pitch parameter values, and the actual roll parameter values based on at least some of:
a measured longitudinal acceleration associated with the body of the vehicle;
a measured lateral acceleration associated with the body of the vehicle;
a measured vertical acceleration associated with the body of the vehicle;
a measured yaw rate associated with the body of the vehicle;
a measured pitch rate associated with the body of the vehicle; and
a measured roll rate associated with the body of the vehicle.
7. A system for performing ride control blending in an electric vehicle, comprising:
a control distribution module that calculates a torque control demand and a vertical force control demand associated with a wheel of the vehicle based on a generalized vertical force, a pitch moment, and a roll moment associated with a body of the vehicle;
a torque control module that adjusts torque applied by an electric motor to the wheel based on the torque control demand;
a vertical force control module that adjusts vertical force applied by a suspension actuator to the wheel based on the vertical force control demand; and
an actuator constraint module that calculates (i) respective upper and lower actuator constraints associated with the electric motor and (ii) respective upper and lower actuator constraints associated with the suspension actuator.
8. The system of claim 7 , wherein the control distribution modules calculates the torque control demand and the vertical force control demand further based on (i) the respective upper and lower actuator constraints associated with the electric motor and (ii) the respective upper and lower actuator constraints associated with the suspension actuator.
9. The system of claim 1 , wherein the torque control module adjusts the torque applied by the electric motor to the wheel by generating at least one of a control current and a control voltage.
10. The system of claim 1 , wherein the vertical force control module adjusts the vertical force applied by the suspension actuator to the wheel by generating a control current.
11. The system of claim 1 , further comprising:
the electric motor, wherein the electric motor is connected to the torque control module and applies torque to the wheel.
12. The system of claim 1 , further comprising:
the suspension actuator, wherein the suspension actuator is connected to the vertical force control module and applies vertical force to the wheel.
13. A method for performing ride control blending in an electric vehicle, comprising:
calculating a torque control demand and a vertical force control demand associated with a wheel of the vehicle based on a generalized vertical force, a pitch moment, and a roll moment associated with a body of the vehicle;
adjusting torque applied by an electric motor to the wheel based on the torque control demand;
adjusting vertical force applied by a suspension actuator to the wheel based on the vertical force control demand;
calculating respective differences between actual vertical parameter values associated with the body of the vehicle and reference vertical parameter values associated with the body of the vehicle to provide a first set of calculated differences;
calculating respective differences between actual pitch parameter values associated with the body of the vehicle and reference pitch parameter values associated with the body of the vehicle to provide a second set of calculated differences; and
calculating respective differences between actual roll parameter values associated with the body of the vehicle and reference roll parameter values associated with the body of the vehicle to provide a third set of calculated differences.
14. The method of claim 13 , further comprising:
calculating the generalized vertical force, the pitch moment, and the roll moment based on the first, second, and third sets of calculated differences.
15. The method of claim 13 , further comprising:
calculating the reference vertical parameters values, the reference pitch parameter values, and the reference roll parameter values based on:
an accelerator pedal displacement from a baseline accelerator pedal position;
a brake pedal displacement from a baseline brake pedal position; and
a steering wheel angle.
16. The method of claim 13 , further comprising:
calculating the actual vertical parameters values, the actual pitch parameter values, and the actual roll parameter values based on at least some of:
a measured longitudinal acceleration associated with the body of the vehicle;
a measured lateral acceleration associated with the body of the vehicle;
a measured vertical acceleration associated with the body of the vehicle;
a measured yaw rate associated with the body of the vehicle;
a measured pitch rate associated with the body of the vehicle; and
a measured roll rate associated with the body of the vehicle.
17. A method for performing ride control blending in an electric vehicle, comprising:
calculating a torque control demand and a vertical force control demand associated with a wheel of the vehicle based on a generalized vertical force, a pitch moment, and a roll moment associated with a body of the vehicle;
adjusting torque applied by an electric motor to the wheel based on the torque control demand;
adjusting vertical force applied by a suspension actuator to the wheel based on the vertical force control demand; and
calculating (i) respective upper and lower actuator constraints associated with the electric motor and (ii) respective upper and lower actuator constraints associated with the suspension actuator.
18. The method of claim 17 , wherein calculating the torque control demand and the vertical force control demand is further based on (i) the respective upper and lower actuator constraints associated with the electric motor and (ii) the respective upper and lower actuator constraints associated with the suspension actuator.