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.

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.

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.

Test Results: Vehicle Responses to Simulated Drag Caused by Front Tire Tread Detachment — The Effect of Scrub Radius and Speed

2018 ◽  
Author(s):  
Mark W. Arndt ◽  
Stephen M. Arndt
Keyword(s):  
Lateral Displacement ◽  
Rear Wheel ◽  
Lateral Acceleration ◽  
Steering Wheel ◽  
Slip Angle ◽  
Yaw Rate ◽  
Wheel Drive ◽  
Steady State Responses ◽  
Four Wheel Drive ◽  
Left Front

The effects of reduced kingpin offset distance at the ground (scrub radius) and speed were evaluated under controlled test conditions simulating front tire tread detachment drag. While driving in a straight line at target speeds of 50, 60, or 70 mph with the steering wheel locked, the drag of a tire tread detachment was simulated by applying the left front brake with a pneumatic actuator. The test vehicle was a 2001 dual rear wheel four-wheel-drive Ford F350 pickup truck with an 11,500 lb. GVWR. The scrub radius was tested at the OEM distance of 125 mm (Δ = 0) and at reduced distances of 49 mm (Δ = −76) and 11 mm (Δ = −114). The average steady state responses at 70 mph with the OEM scrub radius were: steering torque = −24.5 in-lb; slip angle = −3.8 deg; lateral acceleration = −0.47 g; yaw rate = −8.9 deg/sec; lateral displacement after 0.75 seconds = 3.1 ft and lateral displacement after 1.5 seconds = 13.1 ft. At the OEM scrub radius, responses that increased linearly with speed included: slip angle (R2 = 0.84); lateral acceleration (R2 = 0.93); yaw rate (R2 = 0.73) and lateral displacement (R2 = 0.59 and R2 = 0.87, respectively). At the OEM scrub radius, steer torque decreased linearly with speed (R2 = 0.76) and longitudinal acceleration had no linear relationship with speed (R2 = 0.09). At 60 mph and 70 mph for both scrub radius reductions, statistically significant decreases (CI ≥ 95%) occurred in average responses of steer torque, slip angle, lateral acceleration, yaw rate, and lateral displacement. At 50 mph, reducing the OEM scrub radius to 11 mm resulted in statistically significant decreases (CI ≥ 95%) in average responses of steer torque, lateral acceleration, yaw rate and lateral displacement. At 50 mph the average slip angle response decreased (CI = 87%) when the OEM scrub radius was reduced to 11 mm.

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.

scholarly journals Conflict and Sensitivity Analysis of Vehicular Stability Using a Two-State Linear Bicycle Model

2021 ◽  
Vol 2021 ◽  
pp. 1-17
Author(s):  
Mohamed A. Hassan ◽  
Mohamed A. A. Abdelkareem ◽  
Gangfeng Tan ◽  
M. M. Moheyeldein
Keyword(s):  
Critical Role ◽  
Lateral Acceleration ◽  
Vehicle Stability ◽  
Vehicle Speed ◽  
Sideslip Angle ◽  
Tire Force ◽  
Operation Conditions ◽  
Bicycle Model ◽  
Tire Stiffness ◽  
Longitudinal Position

Vehicle parameters and operation conditions play a critical role in vehicular handling and stability. This study aimed to evaluate vehicle stability based on cornering tire stiffness integrated with vehicle parameters. A passenger vehicle is considered in which a two-state linear bicycle model is developed in the Matlab/Simulink. The effect of the vehicle parameters on lateral vehicle stability has been investigated and analyzed. The investigated parameters included CG longitudinal position, wheelbase, and tire cornering stiffness. Furthermore, the effects of load variation and vehicle speed were addressed. Based on a Fishhook steering maneuver, the lateral stability criteria represented in lateral acceleration, yaw rate, vehicle sideslip angle, tire sideslip angles, and the lateral tire force were analyzed. The results demonstrated that the parameters that affect the lateral vehicle stability the most are the cornering stiffness coefficient and the CG longitudinal location. The findings also indicated a positive correlation between vehicle properties and lateral handling and stability.

scholarly journals Improvement of Vehicle Stability Using Reinforcement Learning

2018 ◽  
Author(s):  
Janaína R. Amaral ◽  
Harald Göllinger ◽  
Thiago A. Fiorentin
Keyword(s):  
Reinforcement Learning ◽  
Learning Algorithm ◽  
Rear Wheel ◽  
Vehicle Stability ◽  
Sideslip Angle ◽  
Vehicle Handling ◽  
Race Car ◽  
Torque Vectoring ◽  
Preliminary Study ◽  
The Cost

This paper presents a preliminary study on the use of reinforcement learning to control the torque vectoring of a small rear wheel driven electric race car in order to improve vehicle handling and vehicle stability. The reinforcement learning algorithm used is Neural Fitted Q Iteration and the sampling of experiences is based on simulations of the vehicle behavior using the software CarMaker. The cost function is based on the position of the states on the phase-plane of sideslip angle and sideslip angular velocity. The resulting controller is able to improve the vehicle handling and stability with a significant reduction in vehicle sideslip angle.

Simulated and Experimental Comparisons of Slip and Torque Control Strategies for Regenerative Braking in Instances of Parametric Uncertainties

2015 ◽  
Vol 27 (3) ◽  
pp. 235-243 ◽  
Author(s):  
Maxime Boisvert ◽  
◽  
Philippe Micheau ◽  
Didier Mammosser
Keyword(s):  
Control Strategies ◽  
Experimental Tests ◽  
Rear Wheel ◽  
Torque Control ◽  
Regenerative Braking ◽  
Parametric Uncertainties ◽  
Vehicle Speed ◽  
Wheel Slip ◽  
Braking Control ◽  
Efficiency Map

<div class=""abs_img""> <img src=""[disp_template_path]/JRM/abst-image/00270003/02.jpg"" width=""340"" />Slip efficiency map & control law</div> A three-wheel hybrid recreational vehicle was studied for the purpose of regenerative braking control. In order to optimize the amount of energy recovered from electrical braking, most of the existing literature presents optimal methods which consist in defining the optimal braking torque as a function of vehicle speed. The originality of the present study is to propose a new strategy based on the control of rear wheel slip. A simulator based on MATLAB/Simulink and validated with experimental measurements compared the two strategies and their sensitivities to variations in mass, slope and road conditions. Numerical simulations and experimental tests show that regenerative braking based on a slip controller was less affected by the majority of the parametric changes. Moreover, since the slip was limited, the longitudinal stability of the vehicle was thereby improved. It thus becomes possible to ensure optimal energy recovery and vehicle stability even in instances of parametric uncertainties.

Vehicle Sideslip Angle Estimation Through Neural Networks: Application to Experimental Data

2006 ◽  
Author(s):  
Stefano Melzi ◽  
Edoardo Sabbioni ◽  
Alessandro Concas ◽  
Marco Pesce
Keyword(s):  
Neural Network ◽  
Experimental Data ◽  
Lateral Acceleration ◽  
Slip Angle ◽  
Vehicle Speed ◽  
Sideslip Angle ◽  
The Neural Network ◽  
Training Stage ◽  
Wide Range ◽  
Self Adaptation

This work explores the possibility of using a non-structured algorithm as a sideslip angle valuer: on the basis of a preliminary numerical analysis, a neural network was designed and trained with experimental signals of lateral acceleration, vehicle speed, yaw rate and steer angle. The network was applied to experimental data in order to verify its capability of self-adaptation to changes in friction coefficient and to provide accurate estimations for manoeuvres sensibly different from the ones used during the training stage. The simple architecture joined with an appropriate training set conferred good self-adaptation properties to the neural network which was able to provide satisfying estimation of side slip angle for a wide range of manoeuvres and different friction conditions.

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