Abstract
Electric vehicles with independently controlled drivetrains allow torque vectoring, which enhances active safety and handling qualities. This article proposes an approach for the concurrent control of yaw rate and sideslip angle based on a single-input single-output (SISO) yaw rate controller. With the SISO formulation, the reference yaw rate is first defined according to the vehicle handling requirements and is then corrected based on the actual sideslip angle. The sideslip angle contribution guarantees a prompt corrective action in critical situations such as incipient vehicle oversteer during limit cornering in low tire-road friction conditions. A design methodology in the frequency domain is discussed, including stability analysis based on the theory of switched linear systems. The performance of the control structure is assessed via: 1) phase-plane plots obtained with a nonlinear vehicle model; 2) simulations with an experimentally validated model, including multiple feedback control structures; and 3) experimental tests on an electric vehicle demonstrator along step steer maneuvers with purposely induced and controlled vehicle drift. Results show that the SISO controller allows constraining the sideslip angle within the predetermined thresholds and yields tire-road friction adaptation with all the considered feedback controllers.
Highlights
E LECTRIC vehicles with multiple motors allow torque vectoring (TV)
Experimental tests in dry tarmac conditions were executed at the Kristalpark proving ground (Belgium) with the iCOMPOSE electric vehicle prototype in: 1) the enhanced sport mode that induces high sideslip angles to allow vehicle drift and 2) the passive
1) Effective continuously active control of yaw rate and sideslip angle is accomplishable with a singleinput single-output (SISO) formulation—a feedback yaw rate controller in which the reference yaw rate is modified according to the actual sideslip angle
Summary
E LECTRIC vehicles with multiple motors allow torque vectoring (TV). This feature permits to generate a direct yaw moment through the controlled variation of the leftto-right wheel torque distribution. A promising alternative method is represented by singleinput single-output (SISO) yaw rate controllers, in which the reference yaw rate is corrected as a function of the actual sideslip angle In this respect, Jalali et al [29] modify the reference yaw rate with a contribution directly proportional to the estimated sideslip angle, which, does not allow setting up an actual soft constraint on vehicle sideslip, which is the requirement for effective stability control. The ideal reference yaw rate formulation should be able to indirectly constrain sideslip angle without relying on a dynamic vehicle model, and at the same time, it should be associated with a systematic methodology for stability demonstration, which is missing at the moment This article covers this gap by further developing the formulation in [18], with the following novel contributions. With the experimental validation, leading to the summary in the conclusion section
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