In English

A modular Torque Vectoring System for a 4WD Electric Performance Vehicle

Aldo Schaaf
Göteborg : Chalmers tekniska högskola, 2018. Master's thesis - Department of Mechanics and Maritime Sciences; 2018:70, 2018.
[Examensarbete på avancerad nivå]

This master’s thesis proposes a modular torque vectoring system for an electric performance vehicle with four independent motor-generator units (MGU). The implemented system is subdivided into three subsystems, consisting of a vehicle motion reference formulation, a chassis force control algorithm and a control allocation algorithm, where the former two belong the outer-loop and the latter belongs to the inner-loop of a cascaded control structure. The vehicle motion reference is based on three derivations of the states governing a single track model and its influence is studied on stability critical maneuvers. Gain scheduled PI control is used for yaw moment control, where the computational performance gain of a dynamic saturation is evaluated. A non-linear constrained optimization problem is solved in the control allocation subsystem, where the influence of weighing factors in the cost function is analyzed. The whole system performance is simulated in a software-in-the-loop (SIL) environment for different maneuvers, varying the control configurations and respective parameters.

Nyckelord: vehicle dynamics, torque vectoring, motion reference, yaw rate control, side slip control, yaw moment control, control allocation, real-time optimization, grip usage minimization



Publikationen registrerades 2018-07-03.

CPL ID: 255444

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