Integrated Chassis Control and Control Allocation for All Wheel Drive Electric Cars with Rear Wheel Steering

Electronics

Pai-Chen Chien¹  Chih-Keng Chen¹ 

[1] Department of Vehicle Engineering, National Taipei University of Technology, Taipei 10604, Taiwan;

关键词: chassis control;    torque vectoring;    vehicle dynamics;    secondary effect;    rear wheel steering;    control allocation;   

DOI  :  10.3390/electronics10222885

来源: DOAJ

【 摘 要 】

This study investigates a control strategy for torque vectoring (TV) and active rear wheel steering (RWS) using feedforward and feedback control schemes for different circumstances. A comprehensive vehicle and combined slip tire model are used to determine the secondary effect and to generate desired yaw acceleration and side slip angle rate. A model-based feedforward controller is designed to improve handling but not to track an ideal response. A feedback controller based on close loop observation is used to ensure its cornering stability. The fusion of two controllers is used to stabilize a vehicle’s lateral motion. To increase lateral performance, an optimization-based control allocation distributes the wheel torques according to the remaining tire force potential. The simulation results show that a vehicle with the proposed controller exhibits more responsive lateral dynamic behavior and greater maximum lateral acceleration. The cornering safety is also demonstrated using a standard stability test. The driving performance and stability are improved simultaneously by the proposed control strategy and the optimal control allocation scheme.

【 授权许可】

Unknown