Torque Vectoring Control of a Four Independent Wheel Drive Electric Vehicle

2013 ◽  
Author(s):  
Federico Cheli ◽  
Stefano Melzi ◽  
Edoardo Sabbioni ◽  
Michele Vignati
Keyword(s):  
Numerical Simulations ◽  
Electric Vehicle ◽  
Electric Vehicles ◽  
Closed Loop ◽  
Control Strategies ◽  
Energetic Efficiency ◽  
Vehicle Handling ◽  
Wheel Drive ◽  
Torque Vectoring ◽  
Yaw Moment

In recent years the interest towards electric vehicles has increased. Among the different layout of the electric powertrain, four in-wheel motors appear to be one of the most attractive. This configuration in fact allows to re-design inner spaces of the vehicle and presents, as an embedded feature, the possibility of independently distributed braking and driving torques on the wheels in order to generate a yaw moment able to improve vehicle handling (torque vectoring). The present paper presents and compares two different torque vectoring control strategies for an electric vehicle with four in-wheel motors. Performances of the control strategies are evaluated by means of numerical simulations of open and closed loop maneuvers, also taking into account their energetic efficiency.

A Feedback Control Strategy for Torque-Vectoring of IWM Vehicles

2014 ◽  
Author(s):  
Francesco Braghin ◽  
Edoardo Sabbioni ◽  
Gabriele Sironi ◽  
Michele Vignati
Keyword(s):  
Electric Vehicles ◽  
Automotive Industry ◽  
Control Strategy ◽  
Control Logic ◽  
Power Train ◽  
Vehicle Handling ◽  
Torque Vectoring ◽  
Feedback Control Strategy ◽  
Object Of Study ◽  
Yaw Moment

In last decades hybrid and electric vehicles have been one of the main object of study for automotive industry. Among the different layout of the electric power-train, four in-wheel motors appear to be one of the most attractive. This configuration in fact has several advantages in terms of inner room increase and mass distribution. Furthermore the possibility of independently distribute braking and driving torques on the wheels allows to generate a yaw moment able to improve vehicle handling (torque vectoring). In this paper a torque vectoring control strategy for an electric vehicle with four in-wheel motors is presented. The control strategy is constituted of a steady-state contribution to enhance vehicle handling performances and a transient contribution to increase vehicle lateral stability during limit manoeuvres. Performances of the control logic are evaluated by means of numerical simulations of open and closed loop manoeuvres. Robustness to friction coefficient changes is analysed.

Direct Yaw Moment Control for Motorized Wheel Electric Vehicles

2001 ◽  
Author(s):  
Avesta Goodarzi ◽  
Ebrahim Esmailzadeh ◽  
G. R. Vossoughi
Keyword(s):  
Electric Vehicle ◽  
Electric Vehicles ◽  
Considerable Improvement ◽  
Control Law ◽  
Traction Control ◽  
Vehicle Handling ◽  
Direct Yaw Moment Control ◽  
Yaw Moment Control ◽  
Moment Control ◽  
Yaw Moment

Abstract A new control law for direct yaw moment control of an electric vehicle is developed. Although this study is considered as part of a global control system for the traction control of a four motorized wheel electric vehicle, but the results of this study is quite general and can be applied to other types of vehicles. The dynamic model of the system has been analyzed and, in accordance with the optimal control theory, an optimal controller is designed. Two different versions of the control law have been considered and the performance of each version has been separately studied and compared with each other. Finally, the numerical simulation of the vehicle-handling model with and without the use of the optimal yaw moment controller has been carried out. Results obtained indicate that considerable improvement in the vehicle handling has been achieved when the optimal yaw moment controller is engaged.

scholarly journals Improved DTC strategy of an electric vehicle with four in-wheels induction motor drive 4WDEV using fuzzy logic control

2021 ◽  
Vol 12 (2) ◽  
pp. 650
Author(s):  
Nair Nouria ◽  
Gasbaoui Brahim Ghazouni Abdelkader ◽  
Benoudjafer Cherif
Keyword(s):  
Fuzzy Logic ◽  
Electric Vehicle ◽  
Induction Motors ◽  
Control Strategies ◽  
Direct Torque Control ◽  
Torque Control ◽  
The Road ◽  
Time Simulation ◽  
Wheel Drive ◽  
Four Wheel Drive

In this paper, we will study a four-wheel drive electric vehicle (4WDEV)with two control strategies: conventional direct torque control CDTC and DTC based on fuzzy logic (DTFC). Our overall idea in this work is to show that the 4WDEV equipped with four induction motors providing the drive of the driving wheels controlled by the direct fuzzy torque control ensures good stability of the 4WDEV in the different topologies of the road, bends and slopes. and increases the range of the electric vehicle. Numerical simulations were performed on an electric vehicle powered by four 15 kW induction motors integrated into the wheels using the MATLAB / Simulink environment, where the reference speeds of each wheel (front and rear) are obtained using an electronic speed differential (ESD). This can eventually cause it to synchronize the wheel speeds in any curve. The speed of each wheel is controlled by two types of PI and FLC controllers to improve stability and speed response (in terms of setpoint tracking, disturbance rejection and climb time). Simulation results show that the proposed FLC control strategy reduces torque, flux and stator current ripple. While the4WDEV range was improved throughout the driving cycle and battery power consumption was reduced.

scholarly journals Design and Analysis of DYC and Torque Vectoring using Multiple-Frequency Control Electronic Differential in an Independent Rear Wheel Driven Electric Vehicle

2019 ◽  
Vol 9 (2) ◽  
pp. 307-315
Keyword(s):  
Control System ◽  
Electric Vehicle ◽  
Control Method ◽  
Sliding Mode ◽  
Control Strategies ◽  
Frequency Control ◽  
Multiple Frequency ◽  
Traction Control ◽  
Traction Control System ◽  
Torque Vectoring

Electric vehicle (EV) are being embraced in recent times as they run on clean fuel, zero tail emission and are environment-friendly. Recent advancements in the field of power electronics and control strategies have made it possible to the advent in the vehicle dynamics, efficiency and range. This paper presents a design for traction control system (TCS) for longitudinal stability and Direct Yaw Control (DYC) for lateral stability simultaneous. The TCS and DYC is based on multiple frequency controlled electronic differential with a simple and effective approach. Along with it, some overviews have been presented on some state of the art in traction control system (TCS) and torque vectoring. The developed technique reduces nonlinearity, multisensory interfacing complexity and response time of the system. This torque and yaw correction strategy can be implemented alongside fuzzy control, sliding mode or neural network based controller. The effectiveness of the control method has been validated using a lightweight neighbourhood electric vehicle as a test platform. The acquired results confirm the versatility of proposed design and can be implemented in any DC motor based TCS/DYC.

scholarly journals Front/Rear Axle Torque Vectoring Control for Electric Vehicles

2019 ◽  
Vol 141 (6) ◽  
Author(s):  
David Ruiz Diez ◽  
Efstathios Velenis ◽  
Davide Tavernini ◽  
Edward N. Smith ◽  
Efstathios Siampis ◽  
...  
Keyword(s):  
Electric Vehicles ◽  
Rear Axle ◽  
Electric Machines ◽  
Torque Control ◽  
Hardware In The Loop ◽  
Torque Vectoring ◽  
Online Implementation ◽  
Physical Limitations ◽  
Physical Quantities ◽  
Yaw Moment

Vehicles equipped with multiple electric machines allow variable distribution of propulsive and regenerative braking torques between axles or even individual wheels of the car. Left/right torque vectoring (i.e., a torque shift between wheels of the same axle) has been treated extensively in the literature; however, fewer studies focus on the torque shift between the front and rear axles, namely, front/rear torque vectoring, a drivetrain topology more suitable for mass production since it reduces complexity and cost. In this paper, we propose an online control strategy that can enhance vehicle agility and “fun-to-drive” for such a topology or, if necessary, mitigate oversteer during sublimit handling conditions. It includes a front/rear torque control allocation (CA) strategy that is formulated in terms of physical quantities that are directly connected to the vehicle dynamic behavior such as torques and forces, instead of nonphysical control signals. Hence, it is possible to easily incorporate the limitations of the electric machines and tires into the computation of the control action. Aside from the online implementation, this publication includes an offline study to assess the effectiveness of the proposed CA strategy, which illustrates the theoretical capability of affecting yaw moment that the front/rear torque vectoring strategy has for a given set of vehicle and road conditions and considering physical limitations of the tires and actuators. The development of the complete strategy is presented together with the results from hardware-in-the-loop (HiL) simulations, using a high fidelity vehicle model and covering various use cases.

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

2015 ◽  
Author(s):  
Benedict Jager ◽  
Peter Neugebauer ◽  
Reiner Kriesten ◽  
Nejila Parspour ◽  
Christian Gutenkunst
Keyword(s):  
Electric Vehicle ◽  
Stability Control ◽  
Wheel Drive ◽  
Torque Vectoring ◽  
Four Wheel Drive

Analysis of Electric Vehicle Battery Charging and Discharging

2014 ◽  
Vol 556-562 ◽  
pp. 1879-1883 ◽  
Author(s):  
Zhe Ci Tang ◽  
Chun Lin Guo ◽  
Dong Ming Jia
Keyword(s):  
Power System ◽  
Simulation Model ◽  
Electric Vehicle ◽  
Electric Vehicles ◽  
Control Strategy ◽  
Control Strategies ◽  
Load Capacity ◽  
Battery Charging ◽  
Electric Vehicle Battery ◽  
Working Principle

The more popular of electric vehicles is, the higher the load capacity of the battery is in the power system, therefore, the charging and discharging technology is particularly important. This paper introduces several electric vehicle battery charging methods commonly used at present, describes working principle of the bidirectional DC/DC converter in detail in the battery charging and discharging process, and the bidirectional DC/DC charging and discharging control strategy. Finally, the electric vehicle battery charging and discharging simulation model is built, the validity of the electric vehicle battery charging and discharging model is verified based on control strategies mentioned herein by use of simulation.

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

Meccanica ◽  
2021 ◽  
Author(s):  
Andrea Mangia ◽  
Basilio Lenzo ◽  
Edoardo Sabbioni
Keyword(s):  
Energy Efficiency ◽  
Electric Vehicles ◽  
Degrees Of Freedom ◽  
Integrated Approach ◽  
Sideslip Angle ◽  
Control Framework ◽  
Torque Vectoring ◽  
Wheel Torque ◽  
High Level ◽  
Yaw Moment

AbstractA 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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