摘要：AbstractPropulsion control systems for electrified over-actuated vehicles of ten need to cope with and exploit redundancies within the drive-train. In addition to optimal utilization of the actuators available to fulfill primary goals like longitudinal force or yaw moment, constraints on the battery current and tire forces need to be taken into account. To that end, a nonlinear model predictive control allocation algorithm utilizing relaxed penalty functions is proposed which solves the task very efficiently and in real-time.
关键词：KeywordsDriveline ControlEnergy ManagementDirect Yaw Control
