Design of a central feedforward control of torque vectoring and rear-wheel steering to beneficially use tyre information

Warth, Georg; Frey, Michael; Gauterin, Frank

doi:10.1080/00423114.2019.1647345

Cited by 9 publications

(6 citation statements)

References 11 publications

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“…Then as a next step, the influence of an active roll torque distribution system can be taken into account. As soon as the number of control systems increases, the classic control scheme as presented here must then also be compared with approaches from central control and with approaches from optimal control, which are especially advantageous for quadratic multiple-inputmultiple-output systems [30] or even for overactuated systems [31,32].…”

Section: Discussionmentioning

confidence: 99%

A Concept for Using Road Wetness Information in an All-Wheel-Drive Control

Warth¹,

Sieberg

Unterreiner³

et al. 2022

Energies

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This paper presents a concept for using road wetness information in an all-wheel-drive (AWD) control that distributes drive torques in the longitudinal direction. Driving on wet roads requires special attention. Not only does the road surface friction coefficient decrease, but driving dynamics targets must be adjusted to prevent vehicle instability under wet conditions. As an exemplary application, the otherwise generic control concept is implemented on an AWD vehicle with a torque-on-demand transfer case. Therefore, the AWD topology of a drive train with a torque-on-demand transfer case is analysed in advance in terms of occurring torques and rotational speeds. In the following, the vehicle dynamics goals for driving in wet road conditions are described—divided into primary and secondary goals. Starting from a state-of-the art AWD control, an adaptive control strategy is derived by superimposing a wetness coordination unit. With the knowledge of occurring road wetness, this unit adapts newly introduced parameters in order to meet the target driving behaviour under wet conditions. Lastly, the derived AWD control is implemented into a 14-DOF, non-linear vehicle model in Matlab/Simulink, which is used as a virtual plant. The performance of the developed concept is assessed by the driving maneuver “Power On Cornering“ (PON), which means an acceleration out of steady-state circular motion. As its essential benefit, the AWD control enables a maximum spread between driving stability, agility and traction under combined dynamics when using wetness information. The newly introduced wetness coordination unit uses only a few additional and physically interpretable key parameters for this purpose, without significantly increasing the controller complexity.

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Section: Discussionmentioning

confidence: 99%

A Concept for Using Road Wetness Information in an All-Wheel-Drive Control

Warth¹,

Sieberg

Unterreiner³

et al. 2022

Energies

Self Cite

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“…The blue lines in Figure 1a,b are the experimental data and the red lines represent the GA fitting results. The combined slip characteristic is used for this study, which is essential for the subsequent research, as shown in Figure 1c,d The transient behavior of a tire is described using the linear first-order lag element (PT -element) method [8]. The time constant is converted using the vehicle's velocity and the relaxation length as:…”

Section: Tire Modelmentioning

confidence: 99%

“…In the following equations, subscripts 𝑓𝑙, 𝑓𝑟, 𝑟𝑙, 𝑟𝑟 represent the four different wheels of the vehicle. The transient behavior of a tire is described using the linear first-order lag element (PT 1 -element) method [8]. The time constant is converted using the vehicle's velocity and the relaxation length as:…”

Section: Vehicle Dynamics Modelmentioning

confidence: 99%

“…Kissai [7] synthesized an H ∞ controller to enhance the control robustness against the uncertainties in vehicle parameters. Warth [8] designed a central feedforward control using an extended single-track model and the input-output linearization method, and made the reference generation adaptive by detecting the important parameters of tires. Hang [9] proposed a polytopic model to make the vehicle model adapt along with the vehicle velocity and road friction coefficient, and developed a gain-scheduled robust controller to improve the vehicle's stability in extreme conditions.…”

Section: Introductionmentioning

confidence: 99%

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Integrated Chassis Control and Control Allocation for All Wheel Drive Electric Cars with Rear Wheel Steering

Chien

Chen

2021

Electronics

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This study investigates a control strategy for torque vectoring (TV) and active rear wheel steering (RWS) using feedforward and feedback control schemes for different circumstances. A comprehensive vehicle and combined slip tire model are used to determine the secondary effect and to generate desired yaw acceleration and side slip angle rate. A model-based feedforward controller is designed to improve handling but not to track an ideal response. A feedback controller based on close loop observation is used to ensure its cornering stability. The fusion of two controllers is used to stabilize a vehicle’s lateral motion. To increase lateral performance, an optimization-based control allocation distributes the wheel torques according to the remaining tire force potential. The simulation results show that a vehicle with the proposed controller exhibits more responsive lateral dynamic behavior and greater maximum lateral acceleration. The cornering safety is also demonstrated using a standard stability test. The driving performance and stability are improved simultaneously by the proposed control strategy and the optimal control allocation scheme.

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“…For decades, many studies on the integrated chassis control have been performed. In Warth et al, 1 a central feedforward control was designed using the input-output linearization for two chassis systems: rear-wheel steering and torque vectoring. In Her et al, 2 a coordinate algorithm was proposed to enhance the limit-handling performance for the differential braking, traction torques, and active roll moment.…”

Section: Introductionmentioning

confidence: 99%

An integrated control of front in-wheel motors and rear electronic limited slip differential for high-speed cornering performance

Cha

Hyun

et al. 2021

Proceedings of the Institution of Mechanical Engineers, Part D:

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This paper presents an integrated control of in-wheel motor (IWM) and electronic limited slip differential (eLSD) for high-speed cornering performance. The proposed algorithm is designed to improve the handling performance near the limits of handling. The proposed controller consists of a supervisor, upper-level controller, and lower-level controller. First, the supervisor determines a target motion based on the yaw rate reference with a target understeer gradient. The target understeer gradient is devised to improve the lateral stability with in-wheel motor control based on a nonlinear static map. The yaw rate reference is designed based on the target understeer gradient to track the yaw reference with eLSD control. Second, the upper-level controller calculates the desired yaw moments for IWM and eLSD to generate the target motion. Third, the lower-level controller converts the desired yaw moment to the actuator torque commands for IWMs and eLSD. The tire friction limits are estimated based on the tire model and friction circle model to prevent tire saturation by limiting the torque inputs. The proposed algorithm has been investigated via both simulations and vehicle tests. The performance of the integrated control was compared with those of individual control and uncontrolled case in the simulation study. The vehicle tests have been performed using a rear wheel drive vehicle equipped with two front IWMs and eLSD in the rear axle. The vehicle test has been conducted at a racing track to show that the proposed algorithm can improve the lateral stability near the limits of handling.

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Design of a central feedforward control of torque vectoring and rear-wheel steering to beneficially use tyre information

Cited by 9 publications

References 11 publications

A Concept for Using Road Wetness Information in an All-Wheel-Drive Control

A Concept for Using Road Wetness Information in an All-Wheel-Drive Control

Integrated Chassis Control and Control Allocation for All Wheel Drive Electric Cars with Rear Wheel Steering

An integrated control of front in-wheel motors and rear electronic limited slip differential for high-speed cornering performance

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