Comparison of Torque Vectoring Control Strategies for a IWM Vehicle

Sabbioni, Edoardo; Cheli, Federico; Vignati, Michele; Melzi, Stefano

doi:10.4271/2014-01-0860

Cited by 19 publications

(11 citation statements)

References 12 publications

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“…where the first contribution is an optimal yaw moment for steady-state conditions, M z;SSC , and the second contribution, M z;TC , ensures stability in transient conditions [39]. k Y is a control gain, I Y is denoted as ''yaw index'' and it identifies whether the vehicle is in transient or steady-state conditions, f is a function of I Y .…”

Section: High Level Controllermentioning

confidence: 99%

An integrated torque-vectoring control framework for electric vehicles featuring multiple handling and energy-efficiency modes selectable by the driver

2021

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A key feature achievable by electric vehicles with multiple motors is torque-vectoring. Many control techniques have been developed to harness torque-vectoring in order to improve vehicle safety and energy efficiency. The majority of the existing contributions only deal with specific aspects of torque-vectoring. This paper presents an integrated approach allowing a smooth coordination among the main blocks that constitute a torque-vectoring control framework: (1) a reference generator, that defines target yaw rate and sideslip angle; (2) a high level controller, that works out the required total torque and yaw moment at the vehicle level; (3) a low level controller, that maps the required force and yaw moment into individual wheel torque demands. In this framework, the driver can select one among a number of driving modes that allow to change the vehicle cornering response and, as a second priority, maximise energy efficiency. For the first time, the selectable driving modes include an “Energy efficiency” mode that uses torque-vectoring to prioritise the maximisation of the vehicle energy efficiency, thus further increasing the vehicle driving range. Simulation results show the effectiveness of the proposed framework on an experimentally validated 14 degrees of freedom vehicle model.

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Section: High Level Controllermentioning

confidence: 99%

An integrated torque-vectoring control framework for electric vehicles featuring multiple handling and energy-efficiency modes selectable by the driver

2021

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Section: Introductionmentioning

confidence: 99%

“…However, recent studies have shown that the proposed performance deficiency could be recovered to a great extent by manipulating suspension compliance bushings, top mounts, passive spring, damper characteristics, etc. 2 In addition to layout merits, IWM has brought great benefits to active safety control systems when it comes to vehicle lateral dynamics control. Being in a turning manoeuvre scenario, the vehicle may deviate considerably from its intended direction of motion where tyre forces are at the physical limit of adhesion.…”

Section: Introductionmentioning

confidence: 99%

A direct yaw moment controller for a four in-wheel motor drive electric vehicle using adaptive sliding mode control

Asiabar

Kazemi

2019

Proceedings of the Institution of Mechanical Engineers, Part K:

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In this paper, a direct yaw moment control algorithm is designed such that the corrective yaw moment is generated through direct control of driving and braking torques of four in-wheel brushless direct current motors located at the empty space of vehicle wheels. The proposed control system consists of a higher-level controller and a lower-level controller. In the upper level of proposed controller, a PID controller is designed to keep longitudinal velocity constant in manoeuvres. In addition, due to probable modelling error and parametric uncertainties as well as adaptation of unknown parameters in control law, an adaptive sliding mode control through adaptation of unknown parameters is presented to yield the corrective yaw moment such that the yaw rate tracks the desired value and the vehicle sideslip angle maintains limited so as to improve vehicle handling stability. The lower-level controller allocates the achieved control efforts (i.e. total longitudinal force and corrective yaw moment) to driving or regenerative braking torques of four in-wheel motors so as to generate the desired tyre longitudinal forces. The additional yaw moment applied by upper-lever controller may saturate the tyre forces. To this end, a novel longitudinal slip ratio controller which is designed based on fuzzy logic is included in the lower-level controller. A tyre dynamic weight transfer-based torque distribution algorithm is employed to distribute the motor driving torque or regenerative braking torque of each in-wheel motor for vehicle stability enhancement. A seven degree-of-freedom non-linear vehicle model with Magic Formula tyre model as well as the proposed control algorithm are simulated in Matlab/Simulink software. Three steering inputs including lane change, double lane change and step-steer manoeuvres in different roads are investigated in simulation environment. The simulation results show that the proposed control algorithm is capable of improving vehicle handling stability and maintaining vehicle yaw stability.

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“…The targeted maximum velocity was 25 km/h determined from the capacity of the motor, and the obtained maximum velocity was 23 km/h. A torque-vectoring controller was also established by [Sabbioni et al, 2014] for an electric vehicle. Using this system, it was shown that the peak values of oscillation for side slip angle can be decreased.…”

Section: Introductionmentioning

confidence: 99%

Design and Fabrication of Prototype Battery Electric Three Wheeled Vehicles

Nabil

Elnaghi

Saeed

et al. 2019

JAEV

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Significant with the increasing expense of fossil fuel and its depletion, and the impacts emission gases from petrol vehicles are having on our atmosphere, an alternative was needed. The design and fabrication of prototype battery electric vehicles is winding up progressively especially three wheel one. Three wheeled battery electric vehicles need the most ideal design conceivable to minimize the extent of energy necessary to power the vehicle. One of the paybacks of an incorporated design is a lighter vehicle, with high efficiency as a design objective focus. The lighter the vehicle, the lesser amount of energy it will necessitate to drive, therefore less greenhouse emissions. Three-wheel electric vehicle services are: university campus, clubs, hospitals, airports, residential compounds, villas, car and goods towing, trailer to haul the trash, remote area transportation etc. This work entails for investigation, design and building of a prototype three-wheeled battery drive electric vehicle with entire simple control system. A three-wheeled battery electric vehicle as an electric mobility is being developed and tested at Suez Canal University (Egypt) and Sepang International Circuit (Malaysia). The design of the three-wheeled battery electric vehicle must have many favorable characteristics such as low mass and good aerodynamics. The vehicle designed with one seat to be thrusted by brushed motor attached on the rear wheel and powered by 48V Lithium-ion battery. The numerical study is performed by MATLAB Simulink 2017 modeling and the results recorded 140km/kWh with regenerative braking system. The fabricated three-wheel battery electric vehicle total weight is 55kg. Its tested in different tracks, many attempts, with best result 100km/kWh. Vehicle maximum speed is 60km/h and the maximum efficiency is 70% at 25km/h.

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Comparison of Torque Vectoring Control Strategies for a IWM Vehicle

Cited by 19 publications

References 12 publications

An integrated torque-vectoring control framework for electric vehicles featuring multiple handling and energy-efficiency modes selectable by the driver

An integrated torque-vectoring control framework for electric vehicles featuring multiple handling and energy-efficiency modes selectable by the driver

A direct yaw moment controller for a four in-wheel motor drive electric vehicle using adaptive sliding mode control

Design and Fabrication of Prototype Battery Electric Three Wheeled Vehicles

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