Direct yaw moment control and power consumption of in-wheel motor vehicle in steady-state turning

Kobayashi, Takao; Katsuyama, Etsuo; Sugiura, Hideki; Ōno, Eiichi; Yamamoto, Masaki

doi:10.1080/00423114.2016.1246737

Cited by 64 publications

(38 citation statements)

References 8 publications

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“…However, with the exception of [27], which does not formulate a TV controller, they are not based on experiments at high lateral accelerations. Moreover, [28]- [30] consider only in-wheel drivetrains, and do not account for the significant contribution of the mechanical transmission power losses, typical of the more common on-board drivetrains. Finally, the available studies provide useful control design guidelines, but do not reach the stage of developing industrially implementable controllers.…”

Section: Introductionmentioning

confidence: 99%

Energy-Efficient Torque-Vectoring Control of Electric Vehicles With Multiple Drivetrains

Filippis

Lenzo

Sorniotti

et al. 2018

IEEE Trans. Veh. Technol.

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The safety benefits of torque-vectoring control of electric vehicles with multiple drivetrains are well known and extensively discussed in the literature. Also, several authors analyze wheel torque control allocation algorithms for reducing the energy consumption while obtaining the wheel torque demand and reference yaw moment specified by the higher layer of a torquevectoring controller. Based on a set of novel experimental results, this study demonstrates that further significant energy consumption reductions can be achieved through the appropriate tuning of the reference understeer characteristics. The effects of drivetrain power losses and tire slip power losses are discussed for the case of identical drivetrains at the four vehicle corners. Easily implementable yet effective rule-based algorithms are presented for the setup of the energy-efficient reference yaw rate, feedforward yaw moment and wheel torque distribution of the torque-vectoring controller.

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Section: Introductionmentioning

confidence: 99%

Energy-Efficient Torque-Vectoring Control of Electric Vehicles With Multiple Drivetrains

Filippis

Lenzo

Sorniotti

et al. 2018

IEEE Trans. Veh. Technol.

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“…Although the steady-state cornerings are the equilibrium points of a transient behaviour, by analysing the vehicle characteristics in steady-state cornering, the fundamental vehicle motion characteristics can be understood [22]. Steady-state and quasi-steady-state cornering are also used in research works [5,6] to analyse the potential of DYC on energy saving during cornering. Therefore, quasi-steady-state cornering (whenv x = 0, it is steady-state) is adopted in this study.…”

Section: Potential Of Energy-efficient Torque Distribution Control Dumentioning

confidence: 99%

“…During vehicle cornering, tyre slip loss can be a large proportion of the total power loss [4]. Kobayashi et al [5,6] studied how DYC changes the cornering resistance and developed an energy-efficient DYC which can minimise the tyre slip loss thereby reducing the energy consumption during vehicle cornering. Using DYC is an active way to reduce the energy consumption, however, motor efficiency maps were not considered in the studies.…”

Section: Introductionmentioning

confidence: 99%

Energy-Efficient Direct Yaw Moment Control for In-Wheel Motor Electric Vehicles Utilising Motor Efficiency Maps

et al. 2020

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An active energy-efficient direct yaw moment control (DYC) for in-wheel motor electric vehicles taking motor efficiency maps into consideration is proposed in this paper. The potential contribution of DYC to energy saving during quasi-steady-state cornering is analysed. The study in this paper has produced promising results which show that DYC can be used to reduce the power consumption while satisfying the same cornering demand. A controller structure that includes a driver model and an offline torque distribution law during continuous driving and cornering is developed. For comparison, the power consumption of stability DYC is also analysed. Simulations for double lane change manoeuvres are performed and driving conditions either with a constant velocity or with longitudinal acceleration are designed to verify the effectiveness of the proposed controller in different driving situations. Under constant velocity cornering, since the total torque demand is not high, two rear wheels are engaged and during cornering it is beneficial to distribute more torque to one wheel to improve energy efficiency. In the simulated driving manoeuvres, up to 10% energy can be saved compared to other control methods. During acceleration in cornering, since the total torque demand is high, it is energy-efficient to use all the four in-wheel motors during cornering.

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“…Through the above analysis, the target forces can be obtained. The target force expression is as shown in the formula (8). …”

Section: Upper Level Controllermentioning

confidence: 99%

Control Allocation Based on All Wheel Control in the Dynamic Control of Eight In-wheel Motor Drive Vehicle

Chen¹,

Zhang²,

Zhang³

2018

dtetr

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Abstract.Control Allocation based on all wheel control in the Dynamic Control of an eight in-wheel motor drive vehicle is studied in this paper which adopts the hierarchical control strategy and all the wheels are controllable(AWC), including the upper level controller and the lower level controller. The upper level controller calculates the target force (yaw moment) according to the vehicle motion states. And the lower level controller undertakes the distribution of the target force to each tire accordingly. Furthermore, the control system proposed in this paper integrates active steering with direct yaw moment control strategy.Through driver-in-loop simulation under certain conditions, the proposed control allocation is contrasted with the direct yaw moment control(DYC) which only take the longitudinal force into account when distribute the tire force. And the results show that the control allocation based on all wheel control(AWC) is better than traditional direct yaw moment control(DYC), especially in the field of trajectory following as well as in-wheel motor torque distribution.

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Direct yaw moment control and power consumption of in-wheel motor vehicle in steady-state turning

Cited by 64 publications

References 8 publications

Energy-Efficient Torque-Vectoring Control of Electric Vehicles With Multiple Drivetrains

Energy-Efficient Torque-Vectoring Control of Electric Vehicles With Multiple Drivetrains

Energy-Efficient Direct Yaw Moment Control for In-Wheel Motor Electric Vehicles Utilising Motor Efficiency Maps

Control Allocation Based on All Wheel Control in the Dynamic Control of Eight In-wheel Motor Drive Vehicle

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