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.

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.

Analysis of Control Strategy for Extended-Range Electric Vehicle

2011 ◽  
Vol 135-136 ◽  
pp. 261-267
Author(s):  
Hai Tao Min ◽  
Dong Jin Ye ◽  
Yuan Bin Yu
Keyword(s):  
Electric Vehicles ◽  
Control Strategy ◽  
Optimal Strategy ◽  
Control Strategies ◽  
Power Train ◽  
Operating Modes ◽  
Load Following ◽  
Extended Range ◽  
Main Components ◽  
And Control

This paper introduced the structure of Extended-Range Electric Vehicles as well as its characteristics. Principle researches have been offered on the parameters matching of the power-train and main components. Operating modes and control strategies were discussed, especially the two control strategies of charge sustaining mode which is shown as load following strategy and engine optimal strategy, and the effects of both control strategies are simulated and analyzed. The results indicate that the load following strategy can obviously extend battery’s lifespan, but the engine optimal strategy can reduce fuel consumption and emission effectively.

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.

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.

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 Intelligent Torque Vectoring Approach for Electric Vehicles with Per-Wheel Motors

Complexity ◽  
2018 ◽  
Vol 2018 ◽  
pp. 1-14 ◽  
Author(s):  
Alberto Parra ◽  
Asier Zubizarreta ◽  
Joshué Pérez ◽  
Martín Dendaluce
Keyword(s):  
Electric Vehicles ◽  
Driver Assistance ◽  
Driver Assistance Systems ◽  
Torque Distribution ◽  
Neuro Fuzzy ◽  
Torque Vectoring ◽  
Assistance Systems ◽  
Tire Forces ◽  
Analytical Approaches ◽  
Yaw Moment

Transport electrification is currently a priority for authorities, manufacturers, and research centers around the world. The development of electric vehicles and the improvement of their functionalities are key elements in this strategy. As a result, there is a need for further research in emission reduction, efficiency improvement, or dynamic handling approaches. In order to achieve these objectives, the development of suitable Advanced Driver-Assistance Systems (ADAS) is required. Although traditional control techniques have been widely used for ADAS implementation, the complexity of electric multimotor powertrains makes intelligent control approaches appropriate for these cases. In this work, a novel intelligent Torque Vectoring (TV) system, composed of a neuro-fuzzy vertical tire forces estimator and a fuzzy yaw moment controller, is proposed, which allows enhancing the dynamic behaviour of electric multimotor vehicles. The proposed approach is compared with traditional strategies using the high fidelity vehicle dynamics simulator Dynacar. Results show that the proposed intelligent Torque Vectoring system is able to increase the efficiency of the vehicle by 10%, thanks to the optimal torque distribution and the use of a neuro-fuzzy vertical tire forces estimator which provides 3 times more accurate estimations than analytical approaches.

A Control Strategy for Optimization of Power Losses in Series Hybrid Electric Vehicles Considering the Extension of Battery Life

2006 ◽  
Author(s):  
Meisam Amiri ◽  
Farzad R. Salmasi ◽  
Vahid Esfahanian
Keyword(s):  
Electric Vehicles ◽  
Control Strategy ◽  
Hybrid Electric Vehicles ◽  
Battery Life ◽  
System Control ◽  
Power Train ◽  
Electric Generator ◽  
In Series ◽  
Hybrid Electric ◽  
Traction System

Series hybrid electric vehicles (SHEVs) use an electric generator together with battery pack to feed the vehicle traction system. Control system of a hybrid vehicle has a fundamental role in its drivability and performance. Therefore, satisfying the drivers demand while optimizing the power-train efficiency is the key goal in designing the control strategy. An optimization based control strategy for SHEVs has been proposed in order to optimize power-train efficiency while taking the minimization of the losses caused by reducing the battery life into account. Simulation results verify the proposed method.

A Torque Vectoring Control Logic for Active High Performance Vehicle Handling Improvement

2007 ◽  
Author(s):  
Federico Cheli ◽  
Leonidas Kakalis ◽  
Andrea Zorzutti
Keyword(s):  
High Performance ◽  
Rear Wheel ◽  
Control Logic ◽  
Torque Distribution ◽  
Vehicle Handling ◽  
Engine Torque ◽  
Yaw Control ◽  
Wheel Drive ◽  
The Right ◽  
Yaw Moment

The most common automotive drivelines transmit the engine torque to the driven axle through the differential. Semi-active versions of such device ([10], [11], [12]) have been recently conceived to improve vehicle handling at limit and in particular maneuvers. All these differentials are based on the same structural hypothesis of the passive one but they try to manipulate the vehicle dynamics controlling a quantity which was fixed in the passive mechanisms. In this way it’s possible to control the amount of the stabilizing torque but it’s not possible to apply it in both directions. This fact is a great draw drawback of the semi-active differential because a complete yaw control can’t be developed. On the other hand, active differentials [17] can both apply the best yaw moment (in terms of amplitude) and do this with the right sign. Although classic active differentials are greatly versatile, they can’t (or hardly can) reproduce an extreme torque distribution as 0–100% when there is not a μ-split condition. That is because there is always a bias value due to the presence of a gear that has to be decreased by active clutch action. And these clutches are often not able to do that. The most innovative device presented in the last years is the Super Handling-All Wheel Drive (SH-AWD) by Honda ([2], [3], [4], [5]). It can freely distribute the drive torque to the desired wheel, maintaining one of them in free rolling condition, if this is necessary. This flexibility in the lateral torque distribution can hugely increase the vehicle manoeuvrability. Author has carried out a feasibility study to evaluate the handling improvement due to such a device on a high performance rear wheel drive vehicle normally equipped with a semi-active differential.

The Control Strategy of Yaw Moment for Rear Electric Motor Drive Vehicle

2015 ◽  
Vol 740 ◽  
pp. 175-179
Author(s):  
Jin Jun Zheng ◽  
Chuan Xue Song ◽  
Jian Hua Li
Keyword(s):  
Control Strategy ◽  
Electric Motor ◽  
Rapid Development ◽  
Motor Drive ◽  
Lateral Stability ◽  
Vehicle Handling ◽  
Left And Right ◽  
Technology Control ◽  
Electric Motor Drive ◽  
Yaw Moment

With the maturing of in-wheel motor technology, Control on vehicle longitudinal and lateral stability have a rapid development, vehicle with in-wheel motor have also made considerable progress. The paper conducts a study on control strategy of electric vehicle with two in-wheel motors mounted on rear wheels. Yaw moment adopt target following algorithm based on two degrees of model of monorail and study the allocation of torque on two driving wheels. The study indicates that ESP control strategy in which yaw moment of left and right wheel is different and the way of allocating torque based on utilization adhesion can improve vehicle handling ability.

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