Journal
CONTROL ENGINEERING PRACTICE
Volume 48, Issue -, Pages 22-36Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.conengprac.2015.12.012
Keywords
Integrated control; Vehicle dynamics; Electric vehicles; Stability control; Optimization
Funding
- Ontario Research Fund (ORF)
- Automotive Partnership Canada (APC)
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An integrated vehicle control framework is presented, which uses torque vectoring across independently driven wheels for control. The approach is general in nature, but is particularly well suited for electric vehicles due to increased control bandwidth. The novel algorithm optimizes wheel torque outputs in real time, constraining against power management, traction control, chassis configuration, actuator limits, and fault-case limitations. The structure is modular, and designed to adapt for differing vehicles with minimal re-tuning. Simulation and experimental results are provided for a modified electric SUV platform, under a range of dynamic maneuvers in 4WD, FWD, and RWD modes. (C) 2015 Elsevier Ltd. All rights reserved.
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