Abstract
In this paper, the optimal driving torques of four wheels in an electric vehicle (EV) are obtained by minimizing the losses of four in-wheel motors. In order to slightly change these optimal torques for vehicle stability recovery, a new constrained active front steering (AFS) system is analytically designed and integrated with the torque vectoring (TV) system in a novel decentralized structure. In the proposed structure, the required external yaw moment is applied by the TV controller only when the constrained AFS is filled to capacity determined by a stability index extracted from the nonlinear phase plane analysis. As a result of this integration strategy, the external yaw moment is used as low as possible. Consequently, the torques in electrical motors are used near the optimal values consistent with optimal energy consumption. Comparative simulation studies with the standalone TV are conducted in the CarSim software environment to show the efficiency of the proposed decentralized control structure in terms of energy consumption and stability. Moreover, the suitability of the constrained control method used in the integration structure is shown in comparison with the well-known nonlinear model predictive control method in terms of practical implementation.
Published Version
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