Abstract
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.
Highlights
Various chassis control systems have been studied and developed to increase driving dynamics and safety
The proposed controller uses commands from the driver, an advanced vehicle model with individual wheel loads, and a semi-empirical tire model based on the methods of Pacejka [13] and Burhaumudin [14] to generate the reference responses
The secondary effect, which is caused by the interaction between longitudinal and lateral forces on the tire, is used for the feedforward controller
Summary
Various chassis control systems have been studied and developed to increase driving dynamics and safety. Yaw motion control for safety, such as an electronic stability program (ESP), is generally a standard equipment item Advanced control systems, such as torque vectoring, rear wheel steering and active suspension become popular and common because these types of control systems can improve driving performance for a vehicle. A reproducible linear dependency between the driver’s steering input and the lateral acceleration output is preferred for sporty driving sensation To achieve this driving behavior, a model-based feedforward controller with a reference generator is proposed to improve lateral performance instead of tracking an ideal response. This kind of controller should take account of the secondary effect, which is proposed in [6], to describe the interaction between longitudinal and lateral tie forces.
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