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Vehicle handling control of an electric vehicle using active torque distribution and rear wheel steering
KTH, School of Engineering Sciences (SCI), Aeronautical and Vehicle Engineering, Vehicle Dynamics.ORCID iD: 0000-0002-4048-3452
2017 (English)In: International Journal of Vehicle Design, ISSN 0143-3369, E-ISSN 1741-5314, Vol. 74, no 4, p. 319-345Article in journal (Refereed) 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.

Place, publisher, year, edition, pages
2017. Vol. 74, no 4, p. 319-345
National Category
Vehicle Engineering
Identifiers
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
Note

QC 20180111

Available from: 2018-01-11 Created: 2018-01-11 Last updated: 2018-01-11Bibliographically approved

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Stensson Trigell, Annika

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  • Other locale
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