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Item type:Publication, Access status: with files , Torque Vectoring - Linear Parameter-Varying Control for an Electric VehicleIn this thesis, a torque vectoring control strategy is proposed for the propulsion of an electric vehicle with two independent electric machines at the front wheels. The proposed control scheme comprises a linear parameter-varying (LPV) controller and a motor torque and wheel slip limiter which deals with drivetrain saturations and wheel slip limitations. This control strategy was implemented on a microcontroller in a test car. As part of the European project eFuture, test drives were carried out and measurements were performed in several test manoeuvres, which demonstrate the benefits of the proposed method as compared with equal torque distribution.Publicationtype: Doctoral Thesis1269 3333 - Some of the metrics are blocked by yourconsent settings
Item type:Publication, Access status: without files , LPV torque vectoring for an electric vehicle using parameter-dependent Lyapunov functionsIn this paper the application of a novel controller design approach to a torque vectoring concept is presented. An electrically driven road vehicle with two independent motors is considered, for which a good tracking of longitudinal velocity and yaw rate is to be achieved. For this vehicle an LPV model is developed in linear-fractional transformation (LFT) representation. Based on this, a gain-scheduled controller is designed using parameter-dependent quadratic Lyapunov functions and parameter-dependent shaping filters. In order to avoid performance degradations due to saturation effects, a Torque and Slip Limiter (TSL) scheme in polytopic LPV form is used. Choices both of Lyapunov functions and shaping filters turn out to have a significant influence on the controller performance; this is illustrated in simulation examples. The vehicle is simulated using a 14-degrees-of-freedom vehicle model including a Pacejka tire model. The results indicate a significant performance improvement compared to previous approaches using polytopic LPV controller design with parameter-independent shaping filters.Publicationtype: Conference Paper62 - Some of the metrics are blocked by yourconsent settings
Item type:Publication, Access status: without files , Torque vectoring with a feedback and feed forward controller : applied to a through the road hybrid electric vehicleThis paper concentrates on the torque commands for electric propulsion motors in a through the road hybrid electric vehicle. By using a linear quadratic gaussian controller, a flat feed forward controller and a linear desired value generator the lateral vehicle dynamics are influenced. Understeering, oversteering, agility and cornering speed can be optimized by proper controller design. A 14 degree of freedom vehicle model with a Dugoff tire model is used to simulate the vehicle behaviour. The simulation results show improved vehicle dynamics and increased handling for the driver compared to a equal distributed torque command.Publicationtype: Conference Paper30 - Some of the metrics are blocked by yourconsent settings
Item type:Publication, Access status: without files , Two-degree-of-freedom LPV control for a through-the-road hybrid electric vehicle via torque vectoringThis paper presents an application of linear-Parameter-Varying (LPV) control to solve the torque vectoring problem of a through-the-road hybrid electric vehicle (TtR-HEV). To achieve high performance both in reference tracking and disturbance rejection, a two-degree-of-freedom LPV self-scheduled controller is synthesized by using mixed sensitivity loop shaping. The controller is based on a single Lyapunov function and guarantees stability and a level of control performance for all admissible trajectories of varying parameters. Moreover, an anti-windup control scheme is derived by employing a two-step design procedure. Finally the designed controller is tested in various driving maneuvers and compared with a flatness-based controller.Publicationtype: Conference Paper37