Feedback friction control between wheel and rail by detecting yaw moment of wheelset

Torque distribution control is a key technique for four-wheel independent-drive electric vehicles because it significantly affects vehicle stability and handling performance, especially under extreme driving conditions. This paper, which focuses on the global yaw moment generated by both the longitudinal and the lateral tire forces, proposes a new distribution control to allocate driving torques to four-wheel motors. The proposed objective function not only minimizes the longitudinal tire usage, but also make increased use of each tire to generate yaw moment and achieve a quicker yaw response. By analysis and a comparison with prior torque distribution control, the proposed control approach is shown to have better control performance in hardware-in-the-loop simulations.

Download Full-text

Takagi-Sugeno Fuzzy-based Robust H∞ Integrated Lane-Keeping and Direct Yaw Moment Controller of Unmanned Electric Vehicles

IEEE/ASME Transactions on Mechatronics ◽

10.1109/tmech.2020.3032998 ◽

2020 ◽

pp. 1-1

Author(s):

Jinghua Guo ◽

Jingyao Wang ◽

Yugong Luo ◽

Keqiang Li

Keyword(s):

Electric Vehicles ◽

Lane Keeping ◽

Takagi Sugeno ◽

Yaw Moment

Download Full-text

Innovative Active Vehicle Safety Using Integrated Stabilizer Pendulum and Direct Yaw Moment Control

Journal of Dynamic Systems Measurement and Control ◽

10.1115/1.4027499 ◽

2014 ◽

Vol 136 (5) ◽

Cited By ~ 7

Author(s):

Avesta Goodarzi ◽

Fereydoon Diba ◽

Ebrahim Esmailzadeh

Keyword(s):

Control System ◽

Model Simulation ◽

Dynamic Control ◽

Superior Performance ◽

Steering Control ◽

Pendulum System ◽

Direct Yaw Moment Control ◽

Yaw Moment Control ◽

Moment Control ◽

Yaw Moment

Basically, there are two main techniques to control the vehicle yaw moment. First method is the indirect yaw moment control, which works on the basis of active steering control (ASC). The second one being the direct yaw moment control (DYC), which is based on either the differential braking or the torque vectoring. An innovative idea for the direct yaw moment control is introduced by using an active controller system to supervise the lateral dynamics of vehicle and perform as an active yaw moment control system, denoted as the stabilizer pendulum system (SPS). This idea has further been developed, analyzed, and implemented in a standalone direct yaw moment control system, as well as, in an integrated vehicle dynamic control system with a differential braking yaw moment controller. The effectiveness of SPS has been evaluated by model simulation, which illustrates its superior performance especially on low friction roads.

Download Full-text

A Feedback Control Strategy for Torque-Vectoring of IWM Vehicles

Volume 3: 16th International Conference on Advanced Vehicle Technologies; 11th International Conference on Design Education; 7th Frontiers in Biomedical Devices ◽

10.1115/detc2014-34372 ◽

2014 ◽

Cited By ~ 3

Author(s):

Francesco Braghin ◽

Edoardo Sabbioni ◽

Gabriele Sironi ◽

Michele Vignati

Keyword(s):

Electric Vehicles ◽

Automotive Industry ◽

Control Strategy ◽

Control Logic ◽

Power Train ◽

Vehicle Handling ◽

Torque Vectoring ◽

Feedback Control Strategy ◽

Object Of Study ◽

Yaw Moment

In last decades hybrid and electric vehicles have been one of the main object of study for automotive industry. Among the different layout of the electric power-train, four in-wheel motors appear to be one of the most attractive. This configuration in fact has several advantages in terms of inner room increase and mass distribution. Furthermore the possibility of independently distribute braking and driving torques on the wheels allows to generate a yaw moment able to improve vehicle handling (torque vectoring). In this paper a torque vectoring control strategy for an electric vehicle with four in-wheel motors is presented. The control strategy is constituted of a steady-state contribution to enhance vehicle handling performances and a transient contribution to increase vehicle lateral stability during limit manoeuvres. Performances of the control logic are evaluated by means of numerical simulations of open and closed loop manoeuvres. Robustness to friction coefficient changes is analysed.

Download Full-text

Huber-Based Robust Unscented Kalman Filter Distributed Drive Electric Vehicle State Observation

Energies ◽

10.3390/en14030750 ◽

2021 ◽

Vol 14 (3) ◽

pp. 750

Author(s):

Wenkang Wan ◽

Jingan Feng ◽

Bao Song ◽

Xinxin Li

Keyword(s):

Kalman Filter ◽

Real Time ◽

Degrees Of Freedom ◽

Unscented Kalman Filter ◽

State Parameter ◽

State Observation ◽

Straight Line ◽

Distributed Drive Electric Vehicle ◽

Huber Method ◽

Yaw Moment

Accurate and real-time acquisition of vehicle state parameters is key to improving the performance of vehicle control systems. To improve the accuracy of state parameter estimation for distributed drive electric vehicles, an unscented Kalman filter (UKF) algorithm combined with the Huber method is proposed. In this paper, we introduce the nonlinear modified Dugoff tire model, build a nonlinear three-degrees-of-freedom time-varying parametric vehicle dynamics model, and extend the vehicle mass, the height of the center of gravity, and the yaw moment of inertia, which are significantly influenced by the driving state, into the vehicle state vector. The vehicle state parameter observer was designed using an unscented Kalman filter framework. The Huber cost function was introduced to correct the measured noise and state covariance in real-time to improve the robustness of the observer. The simulation verification of a double-lane change and straight-line driving conditions at constant speed was carried out using the Simulink/Carsim platform. The results show that observation using the Huber-based robust unscented Kalman filter (HRUKF) more realistically reflects the vehicle state in real-time, effectively suppresses the influence of abnormal error and noise, and obtains high observation accuracy.

Download Full-text

Comparison of Typical Controllers for Direct Yaw Moment Control Applied on an Electric Race Car

Vehicles ◽

10.3390/vehicles3010008 ◽

2021 ◽

Vol 3 (1) ◽

pp. 127-144

Author(s):

Andoni Medina ◽

Guillermo Bistue ◽

Angel Rubio

Keyword(s):

Handling Performance ◽

Electric Cars ◽

Control Techniques ◽

Race Car ◽

Yaw Rate ◽

Direct Yaw Moment Control ◽

Yaw Moment Control ◽

Moment Control ◽

Race Track ◽

Yaw Moment

Direct Yaw Moment Control (DYC) is an effective way to alter the behaviour of electric cars with independent drives. Controlling the torque applied to each wheel can improve the handling performance of a vehicle making it safer and faster on a race track. The state-of-the-art literature covers the comparison of various controllers (PID, LPV, LQR, SMC, etc.) using ISO manoeuvres. However, a more advanced comparison of the important characteristics of the controllers’ performance is lacking, such as the robustness of the controllers under changes in the vehicle model, steering behaviour, use of the friction circle, and, ultimately, lap time on a track. In this study, we have compared the controllers according to some of the aforementioned parameters on a modelled race car. Interestingly, best lap times are not provided by perfect neutral or close-to-neutral behaviour of the vehicle, but rather by allowing certain deviations from the target yaw rate. In addition, a modified Proportional Integral Derivative (PID) controller showed that its performance is comparable to other more complex control techniques such as Model Predictive Control (MPC).

Download Full-text