Torque vectoring system design for hybrid electric–all wheel drive vehicle

Cho, Jeongmin; Huh, Kunsoo

doi:10.1177/0954407020906626

Cited by 7 publications

(2 citation statements)

References 30 publications

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“…Notably, this method does not account for tire-road friction, which physically restricts the maximum attainable yaw rate. To address this limitation, a more sophisticated approach is introduced, allowing for a detailed design of the reference understeer characteristic [6,24,28,[43][44][45][46][47][48][49][78][79][80][81][82]. In relation to that, a piecewise function defines the relationship between the dynamic steering angle δ dyn and the lateral acceleration a y , which, under quasi-steady-state conditions, is directly associated with the reference yaw rate ( .…”

Section: Reference Generatormentioning

confidence: 99%

On Torque Vectoring Control: Review and Comparison of State-of-the-Art Approaches

Asperti,

Vignati,

Sabbioni

2024

Machines

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Torque vectoring is a widely known technique to improve vehicle handling and to increase stability in limit conditions. With the advent of electric vehicles, this is becoming a key topic since it is possible to have distributed powertrains, i.e., multiple motors are adopted, in which each motor is controlled separately from the others. Moreover, electric motors deliver the torque required by the controller faster and more precisely than internal combustion engines, active differentials and conventional hydraulic brakes. The state of the art of Direct Yaw Moment Control (DYC) techniques, ranging from classical to modern control theories, are analyzed and discussed in this paper. The aim is to give an overview of the currently available approaches while identifying their drawbacks regarding performances and robustness when dealing with common issues like model uncertainties, external disturbances, friction limit and common state estimation problems. This contribution analyzes all the steps from the lateral dynamics reference generation to the desired control action computation and allocation to the available actuators. In addition, some of the presented control logic is evaluated in a simulation environment for a passenger car. Results of both open-loop and closed-loop maneuvers allow the comparison and clarification of each control strategy’s key advantages.

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Section: Reference Generatormentioning

confidence: 99%

On Torque Vectoring Control: Review and Comparison of State-of-the-Art Approaches

Asperti,

Vignati,

Sabbioni

2024

Machines

View full text Add to dashboard Cite

show abstract

“…3,4 In order to improve the handling performance and stability of distributed drive electric vehicle, Hu et al 5 designed a optimal torque vector control (TVC) strategy, which generates expected additional yaw moment to track the reference yaw rate by correcting the torque of left and right wheels. Cho and Huh 6 designed a sliding mode controller to calculate the traction and yaw moment required by the vehicle, and distribute the driving torque to the wheels through the TVC system to improve the handling performance. Park et al 7 used the Daisy-chaining algorithm to distribute the driving torque of the in-wheel motor to track the reference yaw rate, thereby improving the agility of the vehicle in the steering process.…”

Section: Introductionmentioning

confidence: 99%

Coordinated control of distributed drive electric vehicle by TVC and ESC based on function allocation

Liang

Wang

Chen

et al. 2021

Proceedings of the Institution of Mechanical Engineers, Part D:

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Safe and comfortable driving experience includes the improvement of handling performance and stability control. This paper proposed a coordinated controller based on the function allocation for the handling performance and stability of distributed drive electric vehicles. The proposed controller has three layers. The upper control layer designs a dynamic stability envelope boundary suitable for various driving conditions through the phase plane method, and on this basis, the function allocation rules of torque vector control (TVC) strategy and electronic stability control (ESC) strategy were formulated. The medium control layer used the robust [Formula: see text] dynamic output feedback control method and the improved particle swarm optimization (PSO) parameter self-adjusting method to calculate the additional yaw moment required by the TVC strategy and the ESC strategy, respectively. The two types of additional yaw moment are implemented by the in-wheel motor and the hydraulic brake mechanism respectively. The lower control layer optimized the four-wheel torque and braking force based on the optimal tire load rate using the quadratic programming method. The proposed coordinated controller was performed in the CarSim/Simulink co-simulation platform and tested in a real vehicle platform. The results show that the proposed controller can improve the vehicle dynamic response according to the driver’s intention, thus bringing the better handling performance and stability.

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In Depth Analysis of Power Balance, Handling, and the Traction Subsystem of an Articulated Skid-Steering Robot for Sustainable Agricultural Monitoring

et al. 2023

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This paper reports on the energy balance test performed on Agri.Q, an eight-wheel articulated robot intended to be a sustainable monitoring tool within the precision agriculture paradigm, and proposes an in-depth analysis of the traction subsystem in order to develop an appropriate traction allocation strategy to improve navigation through hilly or mountainous crops. Tests were conducted on the contribution of the orientable photovoltaic panel to the mission duration and overall sustainability, showing that a suitable mission plan, including dedicated charging phases, could significantly increase the robot’s operating time. A series of simulations of circular trajectories of different curvature and at different longitudinal velocities on flat ground were performed, with the aim of mapping the robot’s behaviour at steady state. The results of the simulations were analysed, paying particular attention to the required torques, manoeuvrability and forces exchanged on the ground. The simulations conducted demonstrated and extended previous results obtained on similar robotic architectures, which suffer from significant understeer behaviour due to significant lateral wheel slip during turning. They also showed the limitations of currently employed traction motors, but also the advantages of a proper traction allocation strategy involving the rear module.Article highlights. Agri.Q energy balance tests have been carried out to assess its endurance and sustainability The traction and handling behaviours of Agri.Q were mapped and discussed in detail in order to improve them Agri.Q has proven to be a basis for the future implementation of precision agriculture to advance the SDGs

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Torque vectoring system design for hybrid electric–all wheel drive vehicle

Cited by 7 publications

References 30 publications

On Torque Vectoring Control: Review and Comparison of State-of-the-Art Approaches

On Torque Vectoring Control: Review and Comparison of State-of-the-Art Approaches

Coordinated control of distributed drive electric vehicle by TVC and ESC based on function allocation

In Depth Analysis of Power Balance, Handling, and the Traction Subsystem of an Articulated Skid-Steering Robot for Sustainable Agricultural Monitoring

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