Experimental Modelling and Optimal Torque Vectoring Control for 4WD Vehicles
| Autor: | Eduard Morera-Torres, Carlos Ocampo-Martinez, Fernando D. Bianchi |
|---|---|
| Přispěvatelé: | Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial, Universitat Politècnica de Catalunya. SAC - Sistemes Avançats de Control |
| Rok vydání: | 2022 |
| Předmět: |
Informàtica::Automàtica i control [Àrees temàtiques de la UPC]
Torque distribution Yaw-rate control Hinf optimal control Vehicles de quatre rodes motrius Four-wheel drive vehicles LPV modelling and control Computer Networks and Communications Torque vectoring Automotive Engineering Aerospace Engineering Bicycle model Electrical and Electronic Engineering |
| Zdroj: | IEEE Transactions on Vehicular Technology. 71:4922-4932 |
| ISSN: | 1939-9359 0018-9545 |
| DOI: | 10.1109/tvt.2022.3158091 |
| Popis: | © 2022 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting /republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works This paper addresses the design of a torque vectoring architecture to control the four electrical machines in a four wheel-drive (4WD) formula-type competition vehicle. The scheme includes a new yaw-rate controller and a novel optimal torque distribution algorithm. Two yaw-rate controllers are proposed: one based on H8 optimal control and another based on linear parameter varying (LPV) system concepts. Both controllers are designed using an extended bicycle model validated with experimental data. Simulation results shown the effectiveness of the proposed overall control scheme in terms of energy efficiency, cornering speed and stability no matter the high-demanding working conditions. Such an effectiveness is quantitatively demonstrated by means of several key performance indicators chosen to ease the comparison of the proposed approach with respect to other reported works. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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