Journal
MECCANICA
Volume 56, Issue 5, Pages 991-1010Publisher
SPRINGER
DOI: 10.1007/s11012-021-01317-3
Keywords
Torque-vectoring; Direct yaw moment; Electric vehicles; Energy efficiency; Driving modes
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The paper introduces an integrated approach to coordinate the main blocks of a torque-vectoring control framework, including a reference generator, a high level controller, and a low level controller. Drivers can select different driving modes to alter the vehicle's cornering response and maximize energy efficiency.
A key feature achievable by electric vehicles with multiple motors is torque-vectoring. Many control techniques have been developed to harness torque-vectoring in order to improve vehicle safety and energy efficiency. The majority of the existing contributions only deal with specific aspects of torque-vectoring. This paper presents an integrated approach allowing a smooth coordination among the main blocks that constitute a torque-vectoring control framework: (1) a reference generator, that defines target yaw rate and sideslip angle; (2) a high level controller, that works out the required total torque and yaw moment at the vehicle level; (3) a low level controller, that maps the required force and yaw moment into individual wheel torque demands. In this framework, the driver can select one among a number of driving modes that allow to change the vehicle cornering response and, as a second priority, maximise energy efficiency. For the first time, the selectable driving modes include an Energy efficiency mode that uses torque-vectoring to prioritise the maximisation of the vehicle energy efficiency, thus further increasing the vehicle driving range. Simulation results show the effectiveness of the proposed framework on an experimentally validated 14 degrees of freedom vehicle model.
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