CTU Prague-University of Zagreb Collaboration Meeting
CTU Prague-University of Zagreb Collaboration Meeting
One day visit of prof. Josko Deur from the Department of Robotics and Automation of Manufacturing Systems, Faculty of Mechanical Engineering and Naval Architecture, University of Zagreb, Croatia, to the Smart Driving Solutions research group at the Department of Control Engineering, FEE, CTU in Prague to discuss research collaboration in the field of autonomous vehicle driving. These efforts are to be funded by applying to European project calls; different funding schemes will also be discussed.
Moreover, prof. Josko Deur will deliver a lecture titled
Title: Energy-efficient Straight-line Driving Torque Vectoring for Electric Vehicles with Multiple Motors and Disconnect Clutches
with the following abstract:
Abstract: Battery electric vehicles with multiple motors are characterized by actuator redundancy, which calls for application of instantaneously optimized distribution of motor/wheel torques, thus minimizing the energy consumption, i.e., maximizing the vehicle range. If the e-motors are equipped with disconnect clutches, the energy saving potential becomes even higher due to the avoidance of drag of inactive e-motors. However, dynamic optimization and predictive control techniques should be used in that case to provide globally minimal energy consumption. To this end, the lecture presents the following front/rear torque vectoring modeling, optimization, and control methods: (i) a dynamic backward-looking vehicle model that takes into account the clutching transient losses ; (ii) globally optimal, dynamic programming (DP)-based off-line optimization of e-motor torque and clutch state control trajectories, (iii) a parameter-optimized rule-based (RB) torque vectoring control strategy, and (iv) a model predictive torque vectoring control (MPC) strategy. The control strategies are verified by simulation for various certification driving cycles, and the results are compared with the DP-optimal benchmark for different values of a user-defined weighting coefficient, which penalizes frequent clutch disconnects for improved durability. The DP optimization results reveal that the energy consumption reduction achieved through the disconnect clutch functionality is up to 7%, on top of up to 5% reduction achieved by torque distribution itself. The RB and MPC control strategies approach the DP energy consumption benchmark within the margin of 1.3% and 0.6%, respectively.
Date and Time
Location
Hosts
Registration
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- Karlovo náměstí 13
- Praha 2
- Prague, Czech Republic
- Czech Republic 120 00
- Building: E
- Room Number: KN:E-14
Speakers
Tomáš Haniš of Dept. of Control Engineering, Faculty of Electrical Engineering, (FEE), CTU
Overview of Smart Driving Solutions research group background and ongoing projects/activities at the CTU Prague
Overview of Smart Driving Solutions research group background and ongoing projects/activities at the CTU in Prague.
Biography:
Tomas Hanis has extensive industrial experience in the automotive sector, where he held a post as a team leader and control system design competence owner at Porsche Engineering Group. He also has experience in the aerospace sector as a control system design engineer at Rolls-Royce aerospace.
Currently, Tomas Hanis serves as the head of the Smart Driving Solutions research center at the Czech Technical University in Prague, where his research focuses on developing innovative solutions for smart and autonomous driving. His expertise in control systems and optimization enables him to develop advanced technologies that improve safety, efficiency, and comfort in future vehicles.
Email:
Address:Karlovo náměstí 13, 121 35 Praha 2, Prague, Czech Republic, 121 35
Josko Deur of Dept. of Robotics and Automation of Manufacturing Systems, Faculty of Mechanical Engineering and Naval Architecture, (FSB), Uni. of Zagreb
Energy-efficient Straight-line Driving Torque Vectoring for Electric Vehicles with Multiple Motors and Disconnect Clutch
Abstract: Battery electric vehicles with multiple motors are characterized by actuator redundancy, which calls for application of instantaneously optimized distribution of motor/wheel torques, thus minimizing the energy consumption, i.e., maximizing the vehicle range. If the e-motors are equipped with disconnect clutches, the energy saving potential becomes even higher due to the avoidance of drag of inactive e-motors. However, dynamic optimization and predictive control techniques should be used in that case to provide globally minimal energy consumption. To this end, the lecture presents the following front/rear torque vectoring modeling, optimization, and control methods: (i) a dynamic backward-looking vehicle model that takes into account the clutching transient losses ; (ii) globally optimal, dynamic programming (DP)-based off-line optimization of e-motor torque and clutch state control trajectories, (iii) a parameter-optimized rule-based (RB) torque vectoring control strategy, and (iv) a model predictive torque vectoring control (MPC) strategy. The control strategies are verified by simulation for various certification driving cycles, and the results are compared with the DP-optimal benchmark for different values of a user-defined weighting coefficient, which penalizes frequent clutch disconnects for improved durability. The DP optimization results reveal that the energy consumption reduction achieved through the disconnect clutch functionality is up to 7%, on top of up to 5% reduction achieved by torque distribution itself. The RB and MPC control strategies approach the DP energy consumption benchmark within the margin of 1.3% and 0.6%, respectively.
Biography:
Joško Deur is a Full Professor at the University of Zagreb, where he teaches courses in electrical machines and servodrives, digital control systems, automotive mechatronics, and electric vehicle controls. In 2000, he was a postdoctoral scholar at the Ford Research Laboratory, Dearborn, MI. He has led numerous projects including those supported by Ford Motor Company and Jaguar Cars Ltd. His main research interests include modelling and control of automotive mechatronic systems, electric vehicles, and autonomous vehicles. Prof. Deur has published over 80 journal and 130 conference papers, five US patents, five chapters in edited books, and one research book.
Email:
Address: I. Lučića 5, HR-10002 Zagreb, Zagreb, Croatia, 10002
Agenda
Visit Agenda
9:30 am - 10 am: Welcome and introduction.
10 am - 11 am: Lecture by prof. Josko Deur, 45 mins of presentation, followed by 15 mins of questions.
11:15 am - 12 pm: An Overview of prof. Tomas Hanis' research background and ongoing projects/activities at the CTU Prague
12 pm - 12:45 pm: An Overview of Recent Automotive Control Activities at the University of Zagreb (by prof. Josko Deur, 45 minutes)
1 pm - 2:30 pm: Lunch
2:30 pm - 3:30 pm: Lab tour
3:30 pm - 4:30 pm: Detailed discussion on GACR-HRZZ and Horizon Europe project application opportunities and related research topics of mutual interest (prof. Tomas Hanis and prof. Josko Deur).
Prague, July 22, 2024.