This paper presents the implementation of an off-line optimized torque vectoring controller on an electric-drive vehicle with four in-wheel motors for driver assistance and handling performance enhancement. The controller takes vehicle longitudinal, lateral, and yaw acceleration signals as feedback using the concept of state-derivative feedback control. The objective of the controller is to optimally control the vehicle motion according to the driver commands. Reference signals are first calculated using a driver command interpreter to accurately interpret what the driver intends for the vehicle motion. The controller then adjusts the braking/throttle outputs based on discrepancy between the vehicle response and the interpreter command. A test vehicle equipped with four in-wheel electric motors, vehicle sensors, communication buses, and dSPACE rapid prototyping hardware is instrumented and the control performance is verified through vehicle handling tests under different driving conditions.


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    Title :

    Optimal Torque Control for an Electric-Drive Vehicle with In-Wheel Motors: Implementation and Experiments


    Additional title:

    Sae Int. J. Commer. Veh


    Contributors:

    Conference:

    SAE 2013 World Congress & Exhibition ; 2013



    Publication date :

    2013-04-08


    Size :

    11 pages




    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




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