Torque Vectoring Algorithm of Electronic-Four-Wheel Drive Vehicles for Enhancement of Cornering Performance

Park, Giseo; Han, Kyoungseok; Nam, Kwangwoo; Kim, Heeseong; Choi, Seibum B.

doi:10.1109/tvt.2020.2978099

Cited by 47 publications

(37 citation statements)

References 25 publications

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“…Cho and Huh 6 designed a sliding mode controller to calculate the traction and yaw moment required by the vehicle, and distribute the driving torque to the wheels through the TVC system to improve the handling performance. Park et al 7 used the Daisy-chaining algorithm to distribute the driving torque of the in-wheel motor to track the reference yaw rate, thereby improving the agility of the vehicle in the steering process. This algorithm is limited by the torque operating area with the characteristics of the in-wheel motor.…”

Section: Introductionmentioning

confidence: 99%

Coordinated control of distributed drive electric vehicle by TVC and ESC based on function allocation

Liang

Wang

Chen

et al. 2021

Proceedings of the Institution of Mechanical Engineers, Part D:

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Safe and comfortable driving experience includes the improvement of handling performance and stability control. This paper proposed a coordinated controller based on the function allocation for the handling performance and stability of distributed drive electric vehicles. The proposed controller has three layers. The upper control layer designs a dynamic stability envelope boundary suitable for various driving conditions through the phase plane method, and on this basis, the function allocation rules of torque vector control (TVC) strategy and electronic stability control (ESC) strategy were formulated. The medium control layer used the robust [Formula: see text] dynamic output feedback control method and the improved particle swarm optimization (PSO) parameter self-adjusting method to calculate the additional yaw moment required by the TVC strategy and the ESC strategy, respectively. The two types of additional yaw moment are implemented by the in-wheel motor and the hydraulic brake mechanism respectively. The lower control layer optimized the four-wheel torque and braking force based on the optimal tire load rate using the quadratic programming method. The proposed coordinated controller was performed in the CarSim/Simulink co-simulation platform and tested in a real vehicle platform. The results show that the proposed controller can improve the vehicle dynamic response according to the driver’s intention, thus bringing the better handling performance and stability.

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Section: Introductionmentioning

confidence: 99%

Coordinated control of distributed drive electric vehicle by TVC and ESC based on function allocation

Liang

Wang

Chen

et al. 2021

Proceedings of the Institution of Mechanical Engineers, Part D:

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“…Wang built a dynamic EV model and suggested the hierarchical coordination control approach for coordination control [13]. Park built the EV mathematical model and simulate the special conditions for the driving and steering of the vehicle [14]. Huang and Tu proposed a fast terminal sliding mode algorithm for control of the in-wheel motor of DDEV, this control scheme is not sensitive to the change of internal parameters of the motor and can effectively improve the control precision of the single motor [15].…”

Section: Introductionmentioning

confidence: 99%

An Electronic Line-Shafting Control Strategy Based on Sliding Mode Observer for Distributed Driving Electric Vehicles

Huang

Jiang

et al. 2021

IEEE Access

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This paper proposed control schemes to realize the collaborative control as well as enhance the control precision for the distributed driving electric vehicle (DDEV). Firstly, we suggested an electronic lineshafting (ELS) to realize the cooperative control for the Multi-Motor system which is installed in the DDEV. Secondly, we adopted a nonsingular terminal sliding mode control (NTSMC) method combined with a sliding mode observer (SMO) to quicken the response velocity and strengthen the robustness of the single motor controller. Finally, for the chattering value caused by the internal parameter variation and external disturbance, a fuzzy algorithm is proposed to obtain the controller parameters of NTSMC in real-time to eliminate the chattering value of DDEV. Through several simulations and experiments, the results demonstrate that the proposed strategies can realize ideal collaborative control for the Multi-Motor system, as well as improve the dynamic performance and anti-jamming ability for the whole control system of DDEV. INDEX TERMS distributed driving electric vehicle, Multi-Motor system, electronic line-shafting, nonsingular terminal sliding mode control, sliding mode observer

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“…Another interesting feature offered by DEMs is the possibility of easily applying Torque Vectoring (TV) to improve the stability and performance of the car ( [8][9][10][11]). Furthermore, antilock braking systems (ABS) can benefit from EMs higher promptness, even when compared to hydraulic actuated mechanical brakes, thus reducing the car stopping distance ( [2,3]).…”

Section: Introductionmentioning

confidence: 99%

“…When dealing with DEM vehicles, considering the typical control layout ( [8,9,[11][12][13]) of vehicle dynamics control strategies inside Vehicle Control Unit (VCU) can be schematized as in Figure 1. e driver steer command inputs into vehicle with accelerator and brake pedal inputs are processed by VCU to generate total driving and braking torque to be demanded in electric motors.…”

Section: Introductionmentioning

confidence: 99%

Optimal Cooperative Brake Distribution Strategy for IWM Vehicle Accounting for Electric and Friction Braking Torques

Vignati

Belloni

Tarsitano

et al. 2021

Mathematical Problems in Engineering

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Electric vehicles are spreading in automotive industry pushed by the need of reducing greenhouse gas. However, the use of multiple electric motors, i.e., one per wheel, allows to redefine the vehicle powertrain layout with great benefits on vehicle dynamics. Electric motors braking torque is in general not enough to produce high decelerations. Hydraulic friction brakes are still necessary for safety reasons and to avoid oversized motors. This paper presents a control strategy for distributed electric motors (EM), one per wheel, to maximize the regenerative braking. The controller handles cooperative braking among EMs and hydraulic brakes, which are still necessary to guarantee top braking performance of the car. The proposed algorithm considers the driver requested braking torque as well as the required yaw moment by stability control system. Motor efficiency map and wheel normal load are considered to optimally distribute the torques. With respect to conventional distribution strategies, the presented algorithm improves performance, maximizing the regenerative braking power.

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Torque Vectoring Algorithm of Electronic-Four-Wheel Drive Vehicles for Enhancement of Cornering Performance

Cited by 47 publications

References 25 publications

Coordinated control of distributed drive electric vehicle by TVC and ESC based on function allocation

Coordinated control of distributed drive electric vehicle by TVC and ESC based on function allocation

An Electronic Line-Shafting Control Strategy Based on Sliding Mode Observer for Distributed Driving Electric Vehicles

Optimal Cooperative Brake Distribution Strategy for IWM Vehicle Accounting for Electric and Friction Braking Torques

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