Analysis of Vehicle Lateral Response During Regenerative Braking in a Turn

2016 ◽  
Author(s):  
C. S. Nanda Kumar ◽  
Shankar C. Subramanian
Keyword(s):  
Rear Wheel ◽  
Front Wheel ◽  
Lateral Acceleration ◽  
Regenerative Braking ◽  
Steering Wheel ◽  
Slip Angle ◽  
Lateral Response ◽  
Wheel Drive ◽  
Reference Track ◽  
The Impact

Regenerative braking is applied only at the driven wheels in electric and hybrid vehicles. The presence of brake force only at the driven wheels reduces the lateral traction limit of the corresponding tires. This impacts the vehicle lateral response, particularly while applying the regenerative brake in a turn. In this paper, a detailed study was made on the impact of regenerative brake on the vehicle lateral response in front wheel drive and rear wheel drive configurations on dry and wet asphalt road surfaces. Simulations were done considering a typical set of vehicle parameters with the IPG CarMaker® software for different drive conditions and braking configurations along the same reference track. The steering wheel angle, yaw rate, lateral acceleration, vehicle slip angle, and tire forces were obtained. Further, they were compared against the conventional all wheel friction brake configuration. The regenerative braking configuration that had the most impact on vehicle lateral response was analyzed and response variations were quantified.

Test Results: Vehicle Responses to Simulated Drag Caused by Front Tire Tread Detachment — The Effect of Scrub Radius and Speed

2018 ◽  
Author(s):  
Mark W. Arndt ◽  
Stephen M. Arndt
Keyword(s):  
Lateral Displacement ◽  
Rear Wheel ◽  
Lateral Acceleration ◽  
Steering Wheel ◽  
Slip Angle ◽  
Yaw Rate ◽  
Wheel Drive ◽  
Steady State Responses ◽  
Four Wheel Drive ◽  
Left Front

The effects of reduced kingpin offset distance at the ground (scrub radius) and speed were evaluated under controlled test conditions simulating front tire tread detachment drag. While driving in a straight line at target speeds of 50, 60, or 70 mph with the steering wheel locked, the drag of a tire tread detachment was simulated by applying the left front brake with a pneumatic actuator. The test vehicle was a 2001 dual rear wheel four-wheel-drive Ford F350 pickup truck with an 11,500 lb. GVWR. The scrub radius was tested at the OEM distance of 125 mm (Δ = 0) and at reduced distances of 49 mm (Δ = −76) and 11 mm (Δ = −114). The average steady state responses at 70 mph with the OEM scrub radius were: steering torque = −24.5 in-lb; slip angle = −3.8 deg; lateral acceleration = −0.47 g; yaw rate = −8.9 deg/sec; lateral displacement after 0.75 seconds = 3.1 ft and lateral displacement after 1.5 seconds = 13.1 ft. At the OEM scrub radius, responses that increased linearly with speed included: slip angle (R2 = 0.84); lateral acceleration (R2 = 0.93); yaw rate (R2 = 0.73) and lateral displacement (R2 = 0.59 and R2 = 0.87, respectively). At the OEM scrub radius, steer torque decreased linearly with speed (R2 = 0.76) and longitudinal acceleration had no linear relationship with speed (R2 = 0.09). At 60 mph and 70 mph for both scrub radius reductions, statistically significant decreases (CI ≥ 95%) occurred in average responses of steer torque, slip angle, lateral acceleration, yaw rate, and lateral displacement. At 50 mph, reducing the OEM scrub radius to 11 mm resulted in statistically significant decreases (CI ≥ 95%) in average responses of steer torque, lateral acceleration, yaw rate and lateral displacement. At 50 mph the average slip angle response decreased (CI = 87%) when the OEM scrub radius was reduced to 11 mm.

Enhanced braking and steering yaw motion controllers with a non-linear observer for improved vehicle stability

2008 ◽  
Vol 222 (3) ◽  
pp. 293-304 ◽  
Author(s):  
Jeonghoon Song
Keyword(s):  
Load Transfer ◽  
Rear Wheel ◽  
Front Wheel ◽  
Driver Model ◽  
Lateral Acceleration ◽  
Slip Angle ◽  
Vehicle Stability ◽  
Motion Controller ◽  
Non Linear ◽  
Linear Observer

This study proposes two enhanced yaw motion controllers that are modified versions of a braking yaw motion controller (BYMC) and a steering yaw motion controller (SYMC). A BYMC uses an inner rear-wheel braking pressure controller, while an SYMC uses a rear-wheel steering controller. However, neither device can entirely ensure the safety of a vehicle because of the load transfer from the rear to front wheels during braking. Therefore, an enhanced braking yaw motion controller (EBYMC) and an enhanced steering yaw motion controller (ESYMC) are developed, which contain additional outer front-wheel controllers. The performances of the EBYMC and ESYMC are evaluated for various road conditions and steering inputs. They reduce the slip angle and eliminate variation in the lateral acceleration, which increase the controllability, stability, and comfort of the vehicle. A non-linear observer and driver model also produce satisfactory results.

Brake force sharing to improve lateral stability while regenerative braking in a turn

2017 ◽  
Vol 233 (3) ◽  
pp. 531-547 ◽  
Author(s):  
CS Nanda Kumar ◽  
Shankar C Subramanian
Keyword(s):  
Rear Wheel ◽  
Hybrid Vehicles ◽  
Regenerative Braking ◽  
Lateral Stability ◽  
Loop Control ◽  
Force Sharing ◽  
Wheel Drive ◽  
Brake Force ◽  
Brake Force Distribution ◽  
The Impact

In electric and hybrid vehicles, regenerative braking is applied only at the driven wheels by the electric drive, whereas the non-driven wheels are not subjected to brake force during the pure regenerative braking mode. The application of pure regenerative brake may affect the vehicle’s lateral stability during a turn. The impact could be more severe when the pure regenerative brake is applied at the turn on the rear wheels (for a rear wheel drive vehicle) over a low friction road surface. As part of a solution to reduce this impact, a brake force sharing (BFS) strategy between regenerative and friction brake has been proposed in this paper, which improves the brake force distribution between front and rear wheels to ensure a stable turn. The vehicle model and the BFS strategy were developed, and the IPG Car Maker® software was used to evaluate the effectiveness of the proposed strategy. The simulation results on BFS strategy have been corroborated using experimental data collected from a test vehicle. Further, a closed loop control structure was developed for implementing the proposed BFS strategy in electric and hybrid vehicles.

scholarly journals Integrated Chassis Control and Control Allocation for All Wheel Drive Electric Cars with Rear Wheel Steering

Electronics ◽  
2021 ◽  
Vol 10 (22) ◽  
pp. 2885
Author(s):  
Pai-Chen Chien ◽  
Chih-Keng Chen
Keyword(s):  
Control Strategy ◽  
Rear Wheel ◽  
Lateral Acceleration ◽  
Slip Angle ◽  
Control Allocation ◽  
Electric Cars ◽  
Integrated Chassis Control ◽  
Wheel Drive ◽  
Chassis Control ◽  
And Control

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.

Analyses of the Relations Between Driving Types and Regenerative Braking in Electric Vehicles

2014 ◽  
Vol 926-930 ◽  
pp. 896-900
Author(s):  
Jin Long Liu ◽  
Zhi Wei Gao ◽  
Jing Ming Zhang
Keyword(s):  
Distribution Coefficient ◽  
Electric Vehicles ◽  
Theoretical Models ◽  
Rear Wheel ◽  
Front Wheel ◽  
Regenerative Braking ◽  
Force Distribution ◽  
Wheel Drive ◽  
Braking Force ◽  
Four Wheel Drive

The relations between Electric Vehicle (EV) drive arrangement and efficiency of regenerative braking were discussed. Firstly, conclusions were concluded according to the analyses of theoretical models. And then the validity of conclusions was proved by the simulations basing on the software of MATLAB/SIMULINK. The results indicate that the EV with four-wheel drive (4WD) pattern has the highest efficiency in regenerative braking mode. It also shows that whether the EV with front-wheel drive (FWD) pattern has higher efficiency than the EV with rear-wheel drive (RWD) pattern in regenerative braking mode depends on the braking force distribution coefficient.

Vehicle Dynamics Model Establishing and Dynamic Characteristic Simulation

2013 ◽  
Vol 404 ◽  
pp. 244-249
Author(s):  
Rui Wang ◽  
Hao Zhang ◽  
Xian Sheng Li ◽  
Xue Lian Zheng ◽  
Yuan Yuan Ren
Keyword(s):  
Degrees Of Freedom ◽  
Center Of Mass ◽  
Rear Wheel ◽  
Front Wheel ◽  
Step Response ◽  
Steering Wheel ◽  
Vehicle Simulation ◽  
Equivalent Mechanical Model ◽  
External Forces ◽  
Three Degrees Of Freedom

By establishing bus simplify coordinate system model and equivalent mechanical model, inertial forces and external forces are analyzed through vehicle lateral movement and vehicle's yaw motion and roll motion. Three degrees of freedom linear motion equation of vehicle is established taking into account lateral motion, yawing movement and rolling motion of vehicle and it can be solved by using method of state space equation. Vehicle dynamic characteristics are analyzed by using this method and programming with Matlab. Vehicle in steering wheel angle step response is analyzed under the conditions of different tire wheel cornering stiffness, moment of inertia, height of center of mass. The results show that increasing rear wheel cornering stiffness, reducing front wheel cornering stiffness and center of mass height, which can effectively improve stability of vehicle. Simulation results provide a theoretical basis and reference for the selection and design of vehicle.

Simulation Study on Tractor’s Same-Rut-Steering Mechanism

2011 ◽  
Vol 338 ◽  
pp. 236-240
Author(s):  
Ren Cai Zhao ◽  
Xu Ma ◽  
Long Qi ◽  
Rui Chuan Li
Keyword(s):  
Soil Compaction ◽  
Three Dimensional ◽  
Rear Wheel ◽  
Front Wheel ◽  
Steering Wheel ◽  
Steering Mechanism ◽  
Environment Simulation ◽  
Parameterized Model ◽  
Simulation Results ◽  
Deflection Rate

When tractor steers in the same rut, it can not only improve its flexibility in steering, but also reduce soil compaction and crop rolling. In this paper , the concept of tractor steering in the same rut was proposed on the basis of four-wheel-steering (4WS) theory, and the angle relationship between front wheel and rear wheel, which can achieve the same-rut-steering, was established. A three dimensional parameterized model of tractor’s same-rut-steering mechanism was established by the Pro/E software, and its running tracks were simulated in the ADAMS environment. Simulation results show that the same-rut-steering accuracy was affected to some extent when tractor’s speed or steering wheel deflection rate was changed. At last, methods for improving the same-rut-steering accuracy were put forward.

Eco Hybrid Scooter

2014 ◽  
Vol 1077 ◽  
pp. 185-190 ◽  
Author(s):  
Gourav Bansal ◽  
Shubham Chadha ◽  
Sheifali Gupta ◽  
Rupesh Gupta
Keyword(s):  
Hybrid Vehicle ◽  
Rear Wheel ◽  
Front Wheel ◽  
Electric System ◽  
Wheel Drive ◽  
Two Systems ◽  
Two Wheeler ◽  
Electric Supply ◽  
Rear Wheel Drive

This paper introduces the novice concept of “Eco-hybrid Two wheeler” which is a combination of two systems i.e. petrol and electric system. This hybrid vehicle will make use of both technologies. Petrol system will be used for rear wheel drive and the electric system for front wheel drive. The batteries will be automatically charged when the vehicle runs on petrol system and that stored power will further be used for running the vehicle on electric system and so running of vehicle on electric system will be free of cost and pollution free also. The most attractive thing is that the batteries can also be recharged from electric supply.

Sign in / Sign up

Export Citation Format

Share Document