A modular Torque Vectoring System for a 4WD Electric Performance Vehicle
Typ
Examensarbete för masterexamen
Master Thesis
Master Thesis
Program
Automotive engineering (MPAUT), MSc
Publicerad
2018
Författare
Schaaf, Aldo
Modellbyggare
Tidskriftstitel
ISSN
Volymtitel
Utgivare
Sammanfattning
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.
Beskrivning
Ämne/nyckelord
Farkostteknik , Fastkroppsmekanik , Transport , Vehicle Engineering , Solid mechanics , Transport