Integrated Modeling of Vehicle and Driveline Dynamics

2006 ◽  
Author(s):  
Federico Cheli ◽  
Marco Pedrinelli ◽  
Andrea Zorzutti
Keyword(s):  
Automotive Industry ◽  
Dynamic Behaviour ◽  
Dynamic Control ◽  
Contact Forces ◽  
Torque Distribution ◽  
Lateral Vehicle Dynamics ◽  
Torque Vectoring ◽  
Vehicle Dynamic Control ◽  
Driving Torque ◽  
Driveline Dynamics

In the last years automotive industry has shown a growing interest in exploring the field of vehicle dynamic control, improving handling performances and safety of the vehicle, actuating devices able to optimize the driving torque distribution to the wheels. These techniques are defined as torque vectoring. The potentiality of these systems relies on the strong coupling between longitudinal and lateral vehicle dynamics established by tires and powertrain. Due to this fact the detailed (and correct) simulation of the dynamic behaviour of the driveline has a strong importance in the development of these control systems, which aim is to optimize the contact forces distribution. The aim of this work is to build an integrated vehicle and powertrain model in order to provide a proper instrument to be used in the development of such systems, able to reproduce the dynamic interaction between vehicle and driveline and its effects on the handling performances. The developed models have been validated through comparison with experimental results obtained with a 4WD vehicle.

Torque Distribution Control for Multi-Wheeled Combat Vehicle

2014 ◽  
Author(s):  
Hossam Ragheb ◽  
Moustafa El-Gindy ◽  
Hossam Kishawy
Keyword(s):  
Lateral Acceleration ◽  
Pid Controllers ◽  
Torque Distribution ◽  
Yaw Rate ◽  
Bicycle Model ◽  
Torque Vectoring ◽  
Combat Vehicle ◽  
Simulation Results ◽  
Driving Torque ◽  
Yaw Moment

Multi-wheeled combat vehicles behavior depends not only on the available total driving torque but also on its distribution among the drive axles/wheels. In turn, this distribution is largely regulated by the drivetrain layout and its torque distribution devices. In this paper, a multi-wheeled (8×4) combat vehicle bicycle model has been developed and used to obtain the desired yaw rate and lateral acceleration to become reference for the design of the controllers. PID controllers were designed as upper and lower layers of the controllers. The upper controller develops the corrective yaw moment, which is the input to the lower controller to manage the independent torque distribution (torque vectoring) among the driving wheels. Several simulation maneuvers have been performed at different vehicle speeds using Matlab/Simulink-TruckSim to investigate the proposed torque vectoring control strategy. The simulation results with the proposed controller showed a significant improvement over conventional driveline, especially at severe maneuvers.

scholarly journals Vehicle Dynamic Control with 4WS, ESC and TVD under Constraint on Front Slip Angles

Energies ◽  
2021 ◽  
Vol 14 (19) ◽  
pp. 6306
Author(s):  
Jaewon Nah ◽  
Seongjin Yim
Keyword(s):  
Dynamic Control ◽  
Stability Control ◽  
Slip Angle ◽  
Control Allocation ◽  
Vehicle Dynamic ◽  
Steering Angle ◽  
Torque Vectoring ◽  
Vehicle Dynamic Control ◽  
Tire Forces ◽  
Yaw Moment

To enhance vehicle maneuverability and stability, a controller with 4-wheel steering (4WS), electronic stability control (ESC) and a torque vectoring device (TVD) under constraint on the front slip angles is designed in this research. In the controller, the control allocation method is adopted to generate yaw moment via 4WS, ESC and TVD. If the front steering angle is added for generating yaw moment, the steering performance of the vehicle can be further deteriorated. This is because the magnitude of the lateral tire forces are limited and the required yaw moment is insufficient. Constraint is imposed on the magnitude of the front slip angles in order to prevent the lateral tire forces from saturating. The driving simulation is performed by considering the limit of the front slip angle proposed in this study. Compared to the case that uses the existing 4WS, the results of this study are derived from the actuator combination that enhances performance while maintaining stability.

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.

scholarly journals Real-time Performance and Safety Validation of an Integrated Vehicle Dynamic Control Strategy

2017 ◽  
Vol 50 (1) ◽  
pp. 13854-13859 ◽  
Author(s):  
Arya Senna Abdul Rachman ◽  
Adem Ferad Idriz ◽  
Shiqian Li ◽  
Simone Baldi
Keyword(s):  
Real Time ◽  
Control Strategy ◽  
Dynamic Control ◽  
Vehicle Dynamic ◽  
Time Performance ◽  
Vehicle Dynamic Control

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.

Adaptive equivalent consumption minimisation strategy and dynamic control allocation-based optimal power management strategy for four-wheel drive hybrid electric vehicles

2018 ◽  
Vol 233 (12) ◽  
pp. 3125-3146 ◽  
Author(s):  
Hui Liu ◽  
Xunming Li ◽  
Weida Wang ◽  
Lijin Han ◽  
Huibin Xin ◽  
...  
Keyword(s):  
Power Management ◽  
Management Strategy ◽  
Dynamic Control ◽  
Control Allocation ◽  
Energy Management Strategy ◽  
Torque Distribution ◽  
Power Management Strategy ◽  
Optimal Power ◽  
Wheel Drive ◽  
Four Wheel Drive

An adaptive equivalent consumption minimisation strategy and dynamic control allocation-based optimal power management strategy for a four-wheel drive plug-in hybrid electric vehicle is proposed in this paper. The equivalent factors of adaptive equivalent consumption minimisation strategy are optimised offline based on ISIGHT software over several typical driving cycles, which is integrated with AVL CRUISE and MATLAB/Simulink. To update the equivalent factor adaptively according to the predictive velocity, a neural network-based optimal equivalent factor prediction model is built, which can be used online. The torque distribution strategy considering axle load based on energy management strategy optimisation results and the vehicle dynamics control distribution is proposed: this includes two-wheel drive torque distribution, four-wheel drive torque distribution and brake torque distribution. The proposed energy management strategy is verified in New European Driving Cycle and Worldwide harmonised Light Vehicle Test Cycle driving patterns, and the simulation results show that the fuel economy of adaptive equivalent consumption minimisation strategy and dynamic control allocation-based optimal power management strategy is improved by 8.84% and 7.52% in New European Driving Cycle and Worldwide harmonised Light Vehicle Test Cycle, respectively, compared with the benchmark algorithm-based strategy.

Modeling and Control of Wheel Motor Based Articulated Vehicle System

2019 ◽  
Author(s):  
Heeseong Kim ◽  
Taehyun Shim ◽  
Byungjun Sung
Keyword(s):  
Control System ◽  
Dynamic Control ◽  
Modeling And Control ◽  
Yaw Control ◽  
Articulated Vehicle ◽  
Vehicle Systems ◽  
Vehicle Dynamic Control ◽  
And Performance ◽  
Traction System ◽  
And Control

Abstract This paper investigates an effectiveness of vehicle dynamic control (VDC) system based on torque vectoring technique using in-wheel-motors to improve the performance of articulated vehicle systems. A 10 degree-of-freedom (DOF) articulated vehicle model including a tractor and a single axle trailer has been developed and its responses are validated with commercial vehicle software of Trucksim. This model includes a nonlinear tire model (MF tire), a hydraulic damping at the hitch, and a traction system using in-wheel-motors at the trailer axle. In this paper, a yaw control system is developed to track the reference yaw rate with application of yaw moment at the trailer axle using torque distribution of in-wheel-motors. The effectiveness of the proposed control system is validated through simulation of sinusoidal steering maneuver on high mu and slippery road conditions. The simulation results show that in-wheel-motors can improve safety and performance of articulate vehicle systems.

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