Torque-vectoring stability control of a four wheel drive electric vehicle

Jager, Benedict; Neugebauer, Peter; Kriesten, Reiner; Parspour, Nejila; Gutenkunst, Christian

doi:10.1109/ivs.2015.7225818

Cited by 14 publications

(5 citation statements)

References 10 publications

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“…These three parts of the controllers (fuzzification, generation of rules, and defuzzification) require an in-depth knowledge of the process under study. Nevertheless, fuzzy controllers have been successfully applied to DYC or even to unstable systems (Table 4) [36][37][38][39].…”

Section: Ref(s)mentioning

confidence: 99%

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Comparison of Typical Controllers for Direct Yaw Moment Control Applied on an Electric Race Car

2021

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Direct Yaw Moment Control (DYC) is an effective way to alter the behaviour of electric cars with independent drives. Controlling the torque applied to each wheel can improve the handling performance of a vehicle making it safer and faster on a race track. The state-of-the-art literature covers the comparison of various controllers (PID, LPV, LQR, SMC, etc.) using ISO manoeuvres. However, a more advanced comparison of the important characteristics of the controllers’ performance is lacking, such as the robustness of the controllers under changes in the vehicle model, steering behaviour, use of the friction circle, and, ultimately, lap time on a track. In this study, we have compared the controllers according to some of the aforementioned parameters on a modelled race car. Interestingly, best lap times are not provided by perfect neutral or close-to-neutral behaviour of the vehicle, but rather by allowing certain deviations from the target yaw rate. In addition, a modified Proportional Integral Derivative (PID) controller showed that its performance is comparable to other more complex control techniques such as Model Predictive Control (MPC).

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Section: Ref(s)mentioning

confidence: 99%

“…Comments [36] A high-level supervisory module operated by a genetic fuzzy yaw moment controller. [37] Comparison to an LQR. Fuzzy logic shows better results on ISO3888-2 and Sine with Dwell manoeuvres.…”

Section: Ref(s)mentioning

confidence: 99%

Comparison of Typical Controllers for Direct Yaw Moment Control Applied on an Electric Race Car

2021

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“…The advantage of using the four individual motors configuration is that it allows for precise torque distribution when applying the maximum motor power [7][8][9][10][11]. This solution allows individual control of the driving torque at each wheel and thus quickly deploys Torque Vectoring Control (TVC) to stabilize the vehicle and increase its performance [12][13][14][15]. Torque-vectoring control systems are designed to optimize the distribution of torque to individual wheels or axles, enhancing vehicle stability, agility, and overall performance.…”

Section: Introductionmentioning

confidence: 99%

Performance Prediction of a 4WD High-Performance Electric Vehicle Using a Model-Based Torque-Vectoring Approach

Serralvo Neto,

Palermo,

Giacomini

et al. 2023

WEVJ

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Electric vehicles (EVs) enable the integration of powertrains with multiple motors, allowing for the adjustment of torque delivered to each wheel. This approach permits the implementation of torque vectoring techniques (TV) to enhance the vehicle’s stability and cornering response, providing better control of yaw moments. This study utilizes comprehensive telemetry data and an advanced simulator model to assess the influence of torque vectoring (TV) on a Formula SAE (Society of Automotive Engineers) competition vehicle. The telemetry data were collected from a fully instrumented 2WD car, which was then employed to calibrate the simulation model. The calibrated model was subsequently utilized to predict the performance enhancements that could be achieved by implementing a 4WD system. The methodology proved to be a valuable contribution to vehicle design development. This approach also helps evaluate the potential advantages of torque vectoring for drivers with limited experience.

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“…Generally, according to the characteristics of vehicle dynamics and transmission systems, a great number of vehicle control systems have been developed to enhance the vehicle maneuverability. [8][9][10] In particular related to EVs, the active torque vectoring (ATV) system has been established to assist the driver in risky maneuvres when he/she is unable to control the vehicle by using the common steering system. The ATV system controls the vehicle lateral dynamics by distributing the driving torque among the wheels, asymmetrically, to generate the stabilizing external yaw moment.…”

Section: Introductionmentioning

confidence: 99%

Constrained stability control with optimal power management strategy for in-wheel electric vehicles

Najjari

Mirzaei

Tahouni

2019

Proceedings of the Institution of Mechanical Engineers, Part K:

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This paper looks into the energy management and directional stability of four-in-wheel driven electric vehicles, simultaneously. In the proposed strategy, the optimal driving torques are initially distributed between the wheels by considering the condition for minimum losses of motors using the motor efficiency model. In risky maneuvers, a novel optimal torque vectoring system is developed to intentionally change the initial optimal torques for the generation of required stabilizing yaw moment. For designing the stability controller, a new constrained control method is analytically developed based on the prediction of continuous nonlinear vehicle models. The proposed control method restricts the side-slip angle to guarantee the stability. Also, the required control torque for each motor is restricted within the admissible range according to the motor map. As another result of the constrained strategy, a small change in the optimal energy consumption is occurred for improved stability because of using minimum external yaw moment. In simulation studies, a good performance of the developed control system to provide both directional stability and drivability of electric vehicle with high energy efficiency is presented at different driving conditions using 14-degrees-of-freedom vehicle model. A comparative study with the conventional model predictive control method indicates the speed of the proposed constrained control method and the ease of its solution and implementation.

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Torque-vectoring stability control of a four wheel drive electric vehicle

Cited by 14 publications

References 10 publications

Comparison of Typical Controllers for Direct Yaw Moment Control Applied on an Electric Race Car

Comparison of Typical Controllers for Direct Yaw Moment Control Applied on an Electric Race Car

Performance Prediction of a 4WD High-Performance Electric Vehicle Using a Model-Based Torque-Vectoring Approach

Constrained stability control with optimal power management strategy for in-wheel electric vehicles

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