Comparison of Methods for Dynamic Yaw Control on Vehicles With Multiple Electric Motors: A Literature Review

2008 ◽  
Author(s):  
James A. D’Iorio ◽  
Joel Anstrom ◽  
Moustafa El-Gindy
Keyword(s):  
Controller Design ◽  
Cost Effective ◽  
Rear Wheel ◽  
Front Wheel ◽  
The Body ◽  
Electric Motors ◽  
Sideslip Angle ◽  
Yaw Control ◽  
Wheel Drive ◽  
Detailed Simulation

A literature survey is conducted that compares the body of work written about dynamic yaw-moment control (DYC) systems implemented on vehicles with multiple electric motors. Four wheel drive, rear wheel drive, and front wheel drive vehicle architectures are compared with reference to advantages for DYC systems followed by a discussion on controller design. Advantages are weighed as to whether it is better to control vehicle yaw rate, body sideslip angle, or both. Next, methods for implementing the DYC system are evaluated. Sensors used, estimations made, and controller-type utilized are all discussed. Lastly, methods for simulation and testing are reviewed. The survey suggests that little progress has been made on front wheel drive vehicles. It was also determined that more work needs to be conducted on deciding desirable vehicle dynamics for handling. Investigations should be conducted to make these systems cost-effective and robust enough for production. Finally, future studies should include as much detailed simulation work and actual vehicle testing as possible as both are needed for a complete DYC investigation.

scholarly journals A Torque Vectoring Control for Enhancing Vehicle Performance in Drifting

Electronics ◽  
2018 ◽  
Vol 7 (12) ◽  
pp. 394 ◽  
Author(s):  
Michele Vignati ◽  
Edoardo Sabbioni ◽  
Federico Cheli
Keyword(s):  
Control Strategies ◽  
Rear Wheel ◽  
Lateral Acceleration ◽  
Vehicle Speed ◽  
Electric Motors ◽  
Sideslip Angle ◽  
Vehicle Performance ◽  
Wheel Drive ◽  
Torque Vectoring ◽  
The One

When dealing with electric vehicles, different powertrain layouts can be exploited. Among them, the most interesting one in terms of vehicle lateral dynamics is represented by the one with independent electric motors: two or four electric motors. This allows torque-vectoring control strategies to be applied for increasing vehicle lateral performance and stability. In this paper, a novel control strategy based on torque-vectoring is used to design a drifting control that helps the driver in controlling the vehicle in such a condition. Drift is a particular cornering condition in which high values of sideslip angle are obtained and maintained during the turn. The controller is applied to a rear-wheel drive race car prototype with two independent electric motors on the rear axle. The controller relies only on lateral acceleration, yaw rate, and vehicle speed measurement. This makes it independent from state estimators, which can affect its performance and robustness.

Development of the Control Strategy for an Innovative 4WD Device

2006 ◽  
Author(s):  
Federico Cheli ◽  
Paolo Dellacha` ◽  
Andrea Zorzutti
Keyword(s):  
Automotive Industry ◽  
Controller Design ◽  
Rear Wheel ◽  
Front Axle ◽  
Torque Distribution ◽  
Actuation System ◽  
Wheel Drive ◽  
Wet Clutch ◽  
The One ◽  
Engine Crankshaft

The potentialities shown by controlled differentials are making the automotive industry to explore this field. While VDC systems can only guarantee a safe behaviour at limit, a controlled differential can also increase the handling performance. The system derives from a rear wheel drive architecture with a semi-active differential, to which has been added a controlled wet clutch that directly connects the front axle and the engine crankshaft. This device allows distributing the drive torque between the two axles, according to the constraints due to kinematics and thermal problems. It can be easily understood that in this device the torque distribution doesn’t depend only from the central clutch action, but also from the engaged gear. Because of that the central clutch controller has to consider the gear position too. The control algorithms development was carried on using a vehicle model which can precisely simulate the handling response, the powertrain dynamic and the actuation system behaviour. A right powertrain response required the development of a customize library in Simulink. The approach chosen to carry on this research was the one used in automotive industry nowadays: an intensive simulation campaign was executed to realize an initial controller design and tuning.

scholarly journals Vehicle Sideslip Angle Estimation Based on Tire Model Adaptation

Electronics ◽  
2019 ◽  
Vol 8 (2) ◽  
pp. 199 ◽  
Author(s):  
Kanwar Bharat Singh
Keyword(s):  
Experimental Tests ◽  
Estimation Algorithm ◽  
Rear Wheel ◽  
Stability Control ◽  
Operating Conditions ◽  
Successful Implementation ◽  
Tire Model ◽  
Sideslip Angle ◽  
Wheel Drive ◽  
Sideslip Estimation

Information about the vehicle sideslip angle is crucial for the successful implementation of advanced stability control systems. In production vehicles, sideslip angle is difficult to measure within the desired accuracy level because of high costs and other associated impracticalities. This paper presents a novel framework for estimation of the vehicle sideslip angle. The proposed algorithm utilizes an adaptive tire model in conjunction with a model-based observer. The proposed adaptive tire model is capable of coping with changes to the tire operating conditions. More specifically, extensions have been made to Pacejka's Magic Formula expressions for the tire cornering stiffness and peak grip level. These model extensions account for variations in the tire inflation pressure, load, tread depth and temperature. The vehicle sideslip estimation algorithm is evaluated through experimental tests done on a rear wheel drive (RWD) vehicle. Detailed experimental results show that the developed system can reliably estimate the vehicle sideslip angle during both steady state and transient maneuvers.

Analysis of Vehicle Lateral Response During Regenerative Braking in a Turn

2016 ◽  
Author(s):  
C. S. Nanda Kumar ◽  
Shankar C. Subramanian
Keyword(s):  
Rear Wheel ◽  
Front Wheel ◽  
Lateral Acceleration ◽  
Regenerative Braking ◽  
Steering Wheel ◽  
Slip Angle ◽  
Lateral Response ◽  
Wheel Drive ◽  
Reference Track ◽  
The Impact

Regenerative braking is applied only at the driven wheels in electric and hybrid vehicles. The presence of brake force only at the driven wheels reduces the lateral traction limit of the corresponding tires. This impacts the vehicle lateral response, particularly while applying the regenerative brake in a turn. In this paper, a detailed study was made on the impact of regenerative brake on the vehicle lateral response in front wheel drive and rear wheel drive configurations on dry and wet asphalt road surfaces. Simulations were done considering a typical set of vehicle parameters with the IPG CarMaker® software for different drive conditions and braking configurations along the same reference track. The steering wheel angle, yaw rate, lateral acceleration, vehicle slip angle, and tire forces were obtained. Further, they were compared against the conventional all wheel friction brake configuration. The regenerative braking configuration that had the most impact on vehicle lateral response was analyzed and response variations were quantified.

Eco Hybrid Scooter

2014 ◽  
Vol 1077 ◽  
pp. 185-190 ◽  
Author(s):  
Gourav Bansal ◽  
Shubham Chadha ◽  
Sheifali Gupta ◽  
Rupesh Gupta
Keyword(s):  
Hybrid Vehicle ◽  
Rear Wheel ◽  
Front Wheel ◽  
Electric System ◽  
Wheel Drive ◽  
Two Systems ◽  
Two Wheeler ◽  
Electric Supply ◽  
Rear Wheel Drive

This paper introduces the novice concept of “Eco-hybrid Two wheeler” which is a combination of two systems i.e. petrol and electric system. This hybrid vehicle will make use of both technologies. Petrol system will be used for rear wheel drive and the electric system for front wheel drive. The batteries will be automatically charged when the vehicle runs on petrol system and that stored power will further be used for running the vehicle on electric system and so running of vehicle on electric system will be free of cost and pollution free also. The most attractive thing is that the batteries can also be recharged from electric supply.

Linear Quadratic Optimal Regulator for Steady State Drifting of Rear Wheel Drive Vehicle

2015 ◽  
Vol 27 (3) ◽  
pp. 225-234 ◽  
Author(s):  
Ronnapee Chaichaowarat ◽  
◽  
Witaya Wannasuphoprasit
Keyword(s):  
Steady State ◽  
Rear Wheel ◽  
The Body ◽  
Radius Of Curvature ◽  
Single Track ◽  
Linear Quadratic ◽  
Slip Ratio ◽  
Wheel Drive ◽  
Optimal Regulator ◽  
Rear Wheel Drive

<div class=""abs_img""> <img src=""[disp_template_path]/JRM/abst-image/00270003/01.jpg"" width=""340"" />Single-track vehicle drifting</div> Drifting is a large sideslip cornering technique with counter steering, which is advantageous in some driving conditions where vehicle-handling capability over linear tire slip-friction characteristics is imperative. In this paper, the dynamics of a rear-wheel-drive (RWD) vehicle cornering at steady states was simplified using a single-track vehicle model. In addition, tire frictions in any slip conditions were estimated from the combination of the Pacejka's magic formula and the modified Nicolas-Comstock tire model. A computer program was developed, on the basis of the equations of motion (EOMs) derived via the body-fixed coordinate so that the suitable cornering speed and its corresponding steady-state driving control inputs (the steering angle and rear wheel slip ratio) could be calculated automatically for any given radius of curvature and vehicle sideslip. The other set of EOMs was derived via the normal-tangential coordinate and then linearized so that the state space description could be constructed. Eventually, the linear quadratic optimal regulator was designed and simulated via MATLAB for various regulation problems where the initial condition of each individual state deviated from its desired steady-state value. According to the simulation results, the physical explanation of the control inputs can be used as guidance for adjusting vehicle behavior in manual driving.

Design and Performance Simulation of a Power-Integrated Transmission Mechanism

2013 ◽  
Vol 397-400 ◽  
pp. 388-392
Author(s):  
Chou Mo ◽  
Ji Qing Chen ◽  
Feng Chong Lan
Keyword(s):  
Hybrid Electric Vehicle ◽  
Rear Wheel ◽  
Front Wheel ◽  
Transmission Mechanism ◽  
System Structure ◽  
Performance Simulation ◽  
Operating Modes ◽  
Wheel Drive ◽  
And Performance ◽  
Four Wheel Drive

The power system structure of a hybrid electric vehicle (HEV) critically affects the performance of the vehicle. This study presents a power-integrated transmission mechanism that can provide six basic operating modes that can be further classified into 15 sub-modes. Switching clutch conditions helps transmission achieve speed and torque coupling. The proposed mechanism has CVT capability and an extended range capacity, and it is applicable to front-wheel-drive, rear-wheel-drive, or four-wheel-drive HEVs. A performance simulation on power and economy via Matlab and Cruise software demonstrates that the performance of the proposed transmission mechanism meets the target. Therefore, the mechanism is a feasible candidate for use in HEVs.

H∞ Robust Control Design for Hydraulic Front Wheel Drive Speed Control of a Motor Grader

2003 ◽  
Author(s):  
William D. Robinson ◽  
Atul G. Kelkar
Keyword(s):  
Controller Design ◽  
Air Entrainment ◽  
Front Wheel ◽  
Fluid Temperature ◽  
Performance Guarantees ◽  
Uncertainty Model ◽  
Wheel Drive ◽  
Drive Speed ◽  
Robust Control Design ◽  
H Design

A dual-mode H∞ robust tracking controller design is presented to regulate the speed of a hydraulic front wheel drive system on a motor grader. The controller design uses a multiplicative unstructured uncertainty model to account for the un-modeled dynamics of the plant and parametric uncertainties such as variations in fluid temperature and air entrainment. The H∞ design is compared to a classical PI controller design, which is the existing industrial practice. It is shown that the H∞ design provides a higher level of stability robustness and better performance guarantees, which make it a viable candidate for motor grader application.

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