Torque Vectoring on Front Wheel Drive Vehicle with Hub Motors

Abstract

Nowadays electric vehicles (EVs) which are equivalent to fossil fuel vehicles and run on more environmentally friendly fuels, have become popular in the automotive industry. So EVs have very common use areas in that field. Driving stability and safety are also of great importance in these widely used vehicles. In this sense, torque vectoring (TV) appears as the most modern approach.TV control systems provide the distribution of torque to the wheels by the effect of the yaw moment. The application of torque vectoring in vehicles reduces power losses in the motor driver and the vehicle’s power consumption. Using efficient torque vectoring algorithms for electric vehicles, this research describes existing and emerging vehicle technology related to yaw moment management and traction control. The article provides the allocation of wheel torques for a two-wheel drive all electric vehicle with individually controlled engines. Lateral dynamics and moment dynamics were used in the construction of this torque allocation. In addition, the lateral velocity and yaw rate of the vehicle related to the specified inputs were calculated from the nonlinear front wheel drive vehicle model which was designed by MATLAB. The reference yaw rate and the yaw rate, which is the output of the system, were compared and the error in between and the Proportional Integral Derivative (PID) controller were fed. The hub motor, which is widely used in electric vehicles and is easy to control, was used as the engine in the system. While increasing the control on this vehicle, the designed torque vectoring system also increased the stability and driving performance during turning.