This content is not included in
your SAE MOBILUS subscription, or you are not logged in.
New Control Method of Four-Wheel Independent Driving Electric Vehicles for Anti-Slip Purpose
Technical Paper
2020-01-1420
ISSN: 0148-7191, e-ISSN: 2688-3627
This content contains downloadable datasets
Annotation ability available
Sector:
Language:
English
Abstract
The performance of electric vehicles could be enhanced by more flexible drivetrain configurations combined with advanced control methods. Based on four wheel independent driving and front and rear axle modular steering configuration, which was proposed by our research group last year, the problem of slippery under close-to-limit conditions are further discussed and simulated. A new torque vectoring method based on obtainable parameters and variables in real driving situations is introduced to reduce the sideslip when turning on low friction surfaces or with high speed. This method is developed from a comprehensive index, which reflects the stability and maneuverability, by adding additional torques when stability could not be compensated enough by basic torque vectoring. Besides, an improvement of adding a simu-Torsen differential mechanism is made to the model of the vehicle, which enables another control method with the same purpose as before. This method is combined with the torque vectoring and the active control to switch on the simu-Torsen differential mechanism. All the control methods were validated with a real SUV based Simulink model. The vehicle responses with each control method and without such controllers are compared to describe its strengths in detail. Both control method could help the vehicle keep the designated speed and turning curvature without losing its attitude or severe sideslip. The method with simu-Torsen differential mechanism would have a better robustness as it is designed to be able to be operated manually during system malfunction while the other one could reduce the wear and tear of the tyres.
Recommended Content
Citation
Liu, C. and Zheng, G., "New Control Method of Four-Wheel Independent Driving Electric Vehicles for Anti-Slip Purpose," SAE Technical Paper 2020-01-1420, 2020, https://doi.org/10.4271/2020-01-1420.Data Sets - Support Documents
| Title | Description | Download |
|---|---|---|
| Unnamed Dataset 1 | ||
| Unnamed Dataset 2 | ||
| Unnamed Dataset 3 | ||
| Unnamed Dataset 4 |
Also In
References
- Crolla , D. and Cao , D. The Impact of Hybrid and Electric Powertrains on Vehicle Dynamics, Control Systems and Energy Regeneration Vehicle System Dynamics 50 sup1 95 109 2012
- Knauder , B. et al. Electric Torque Vectoring for Electric Vehicles Atzelektronik Worldwide 9 4 50 55 2014
- Mohd Zainal Abidin , N.H. , Imamori , S. , and Alexander , A. Development of High Efficiency Next-Generation SHAWD Rear Drive Unit SAE Technical Paper 2015-01-1098 2015 https://doi.org/10.4271/2015-01-1098
- Furukawa , Y. et al. A Review of Four-Wheel Steering Studies from the Viewpoint of Vehicle Dynamics and Control Vehicle System Dynamics 18 1-3 151 186 1989 10.1080/00423118908968917
- Sano , S. , Furukawa , Y. , and Shiraishi , S. Four Wheel Steering System with Rear Wheel Steer Angle Controlled as a Function of Steering Wheel Angle SAE Technical Paper 860625 1986 https://doi.org/10.4271/860625
- Wheals , J. , Deane , M. , Drury , S. , Griffith , G. et al. Design and Simulation of a Torque Vectoring™ Rear Axle SAE Technical Paper 2006-01-0818 2006 https://doi.org/10.4271/2006-01-0818
- Abe , M. Vehicle Dynamics and Control for Improving Handling and Active Safety: From Four-Wheel Steering to Direct Yaw Moment Control Proceedings of the Institution of Mechanical Engineers, Part K: Journal of Multi-Body Dynamics 213 2 87 101 1999 10.1243/1464419991544081
- Shibahata , Y. Progress and Future Direction of Chassis Control Technology Annual Reviews in Control 29 1 151 158 2005 10.1016/j.arcontrol.2004.12.004
- Chen , Y. and Wang , J. Energy-Efficient Control Allocation with Applications on Planar Motion Control of Electric Ground Vehicles Proceedings of the 2011 American Control Conference 2011 2719 2724 10.1109/ACC.2011.5991160
- Ivanov , V. , Savitski , D. , and Shyrokau , B. A Survey of Traction Control and Antilock Braking Systems of Full Electric Vehicles with Individually Controlled Electric Motors IEEE Transactions on Vehicular Technology 64 9 3878 3896 2015
- Novellis , L.D. , Sorniotti , A. , and Gruber , P. Design and Comparison of the Handling Performance of Different Electric Vehicle Layouts Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering 228 2 218 232 2014 10.1177/0954407013506569
- Kang , J. , Kyongsu , Y. , and Heo , H. Control Allocation Based Optimal Torque Vectoring for 4WD Electric Vehicle SAE Technical Paper 2012-01-0246 2012 https://doi.org/10.4271/2012-01-0246
- Suhane , A. , Rana , R.S. , and Purohit , R. Prospects of Torsen Differential in Four Wheel Drive Automobile Transmission System Materials Today Proceedings 5 4036 4045 2018
- Yang , H. , Liu , C. , Shi , J. , and Zheng , G. Development and Control of Four-Wheel Independent Driving and Modular Steering Electric Vehicles for Improved Maneuverability Limits SAE Technical Paper 2019-01-0459 2019 https://doi.org/10.4271/2019-01-0459
- Bin , L. et al. An Optimal Torque Distribution Control Strategy for Four-Independent Wheel Drive Electric Vehicles Vehicle System Dynamics 53 8 1172 1189 2015
- Kasinathan , D. , Kasaiezadeh , A. , Wong , A. , Khajepour , A. et al. An Optimal Torque Vectoring Control for Vehicle Applications via Real-Time Constraints IEEE Transactions on Vehicular Technology 65 6 4368 4378 2016
- Pacejka , H.B. and Bakker , E. The Magic Formula Tyre Model Vehicle System Dynamics 21 1 18 1992