Development of an Advanced Torque Vectoring Control System for an Electric Vehicle with In-Wheel Motors using Soft Computing Techniques

Abstract

A two-passenger, all-wheel-drive urban electric vehicle (AUTO21EV) with four direct-drive in-wheel motors has been designed and developed at the University of Waterloo. A 14-degree-of-freedom model of this vehicle has been used to develop a genetic fuzzy yaw moment controller. The genetic fuzzy yaw moment controller determines the corrective yaw moment that is required to stabilize the vehicle, and applies a virtual yaw moment around the vertical axis of the vehicle. In this work, an advanced torque vectoring controller is developed, the objective of which is to generate the required corrective yaw moment through the torque intervention of the individual in-wheel motors, stabilizing the vehicle during both normal and emergency driving maneuvers. Novel algorithms are developed for the left-to-right torque vectoring control on each axle and for the front-to-rear torque vectoring distribution action. Several maneuvers are simulated to demonstrate the performance and effectiveness of the proposed advanced torque vectoring controller, and the results are compared to those obtained using the ideal genetic fuzzy yaw moment controller. The advanced torque vectoring controller is also implemented in a hardware-and operator-in-the-loop driving simulator to further evaluate its performance.

Modeling and dynamic analysis of a 6 x 6 heavy military truck by adaptive model predictive control with application to NATO lane change test course

“…16 The driver should be able to successfully complete the maneuver without leaving the zone. Jalali et al 39 and Shojaei et al 40 use a fifth-degree polynomial to describe the trajectory at constant longitudinal speed, by using a Fuzzy model and Levenberg-Marquardt algorithm, respectively. Reński (2001) presents a driver model equation expressing the steering angle in function of the time, having account some factors as a response delay, steering angle gain and the aim point distance.…”

“…where true Y . f ( X f ) and true Y ·· f ( X f ) are the first and second derivatives of the vehicle trajectory. 5,39 The new expression of the steering angle, δ and the first derivative of the desired trajectory, Y . f false( X f false) , are the desired yaw angle, ψ d , and the desired lateral displacement, Y f d , respectively. These variables are a part of the “ Reference ” block and “ Adaptive MPC ” block shown in Figure 3(c).…”

Electronic Differential Implementation in a Delta-Type Human Powered Tricycle

“…That is, the mechanical or electronic variation of the amount of torque sent to each of the driving wheels in order to improve traction and maximize a car's cornering ability [4], [5],[6], [7], [8], [9], [10], [11], [12], [13], [14], [ 15], [16], [17], [18]. Most Original Equipment Manufacturers (OEMs) [4], [5],[6] have constructed and presented TV systems for various types of vehicles, like conventional AWD and purely electric ones.…”

“…Most Original Equipment Manufacturers (OEMs) [4], [5],[6] have constructed and presented TV systems for various types of vehicles, like conventional AWD and purely electric ones. They can be divided into two large categories, (i) electronically controlled mechanical systems (mechanical differentials), producing torque during braking and driving procedures [4], [7], [8] and (ii) purely electronic systems that rely on the operation of more than one electric motors to each or some of the four wheels [9], [10], [11], [12]. Combination of the two cases could also be found in AWD hybrid vehicles where the front wheels are moved by an internal combustion engine and the rear wheels are moved by one or two electric motors.…”

A Feasible Approach For The Force Control Of Traction Wheels Driven By Electric Motors

“…Ivanov et al provided a review of state-of-the-art technology and recent developments in traction control and ABS using the actuation of electric motors [16]. The in-wheel motor researches are also the potential topics of the electric motors for EV saround the world [17][18][19][20].…”