A modular Torque Vectoring System for a 4WD Electric Performance Vehicle

Examensarbete för masterexamen

Please use this identifier to cite or link to this item: https://hdl.handle.net/20.500.12380/255444
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Type: Examensarbete för masterexamen
Master Thesis
Title: A modular Torque Vectoring System for a 4WD Electric Performance Vehicle
Authors: Schaaf, Aldo
Abstract: This master’s thesis proposes a modular torque vectoring system for an electric performance vehicle with four independent motor-generator units (MGU). The implemented system is subdivided into three subsystems, consisting of a vehicle motion reference formulation, a chassis force control algorithm and a control allocation algorithm, where the former two belong the outer-loop and the latter belongs to the inner-loop of a cascaded control structure. The vehicle motion reference is based on three derivations of the states governing a single track model and its influence is studied on stability critical maneuvers. Gain scheduled PI control is used for yaw moment control, where the computational performance gain of a dynamic saturation is evaluated. A non-linear constrained optimization problem is solved in the control allocation subsystem, where the influence of weighing factors in the cost function is analyzed. The whole system performance is simulated in a software-in-the-loop (SIL) environment for different maneuvers, varying the control configurations and respective parameters.
Keywords: Farkostteknik;Fastkroppsmekanik;Transport;Vehicle Engineering;Solid mechanics;Transport
Issue Date: 2018
Publisher: Chalmers tekniska högskola / Institutionen för mekanik och maritima vetenskaper
Chalmers University of Technology / Department of Mechanics and Maritime Sciences
Series/Report no.: Master's thesis - Department of Mechanics and Maritime Sciences : 2018:70
URI: https://hdl.handle.net/20.500.12380/255444
Collection:Examensarbeten för masterexamen // Master Theses



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