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Vehicle handling control of an electric vehicle using active torque distribution and rear wheel steering
KTH, Skolan för teknikvetenskap (SCI), Farkost och flyg, Fordonsdynamik.ORCID-id: 0000-0002-4048-3452
2017 (Engelska)Ingår i: International Journal of Vehicle Design, ISSN 0143-3369, E-ISSN 1741-5314, Vol. 74, nr 4, s. 319-345Artikel i tidskrift (Refereegranskat) Published
Abstract [en]

There are two objectives of this work. First is to develop a detailed mathematical model of a vehicle. The second is to develop a controller which makes the vehicle follow desired dynamic characteristics. Suspension kinematics and compliance characteristics have been obtained from the complex suspension models developed in Adams Car (R). Vehicle roll-pitch interactions and variations of roll and pitch centres with respect to wheel travel are considered. The controller is developed as a combination of force allocation control and active rear wheel steering control. Reference trajectories of vehicle velocity, path geometry and vehicle slip angle are the inputs. The controller transforms these user inputs and generates wheel torques and steering commands. A desired value of yaw rate is maintained by generating a restoring yaw moment from unequal torque distribution, and side slip is substantially reduced by active rear wheel steering controller. Finally simulation results illustrate the suitability of the controller.

Ort, förlag, år, upplaga, sidor
2017. Vol. 74, nr 4, s. 319-345
Nationell ämneskategori
Farkostteknik
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URN: urn:nbn:se:kth:diva-220653DOI: 10.1504/IJVD.2017.10008972ISI: 000417892700003Scopus ID: 2-s2.0-85034095149OAI: oai:DiVA.org:kth-220653DiVA, id: diva2:1172910
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QC 20180111

Tillgänglig från: 2018-01-11 Skapad: 2018-01-11 Senast uppdaterad: 2019-05-10Bibliografiskt granskad

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Stensson Trigell, Annika

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