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Vehicle Torque Vectoring Control: April 6, 2015

The document describes a project on vehicle torque vectoring control. It presents two controller designs - a state feedback controller and a sliding mode controller. Simulation results show that the sliding mode controller performs better with no steady state error and faster response. The document also discusses using a hardware-in-the-loop setup to simulate the controllers, and presents issues encountered and solutions used like increasing sampling period and modifying the motor speed controller. In conclusion, the document recommends further work on using filters and feedforward/adaptive controllers for torque vectoring.

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119 views20 pages

Vehicle Torque Vectoring Control: April 6, 2015

The document describes a project on vehicle torque vectoring control. It presents two controller designs - a state feedback controller and a sliding mode controller. Simulation results show that the sliding mode controller performs better with no steady state error and faster response. The document also discusses using a hardware-in-the-loop setup to simulate the controllers, and presents issues encountered and solutions used like increasing sampling period and modifying the motor speed controller. In conclusion, the document recommends further work on using filters and feedforward/adaptive controllers for torque vectoring.

Uploaded by

deep
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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Vehicle Torque

Vectoring
Control

ECE 1635
April 6, 2015

Christopher Au Moeed Siddiqui Yujie Guo


Agenda

Background

Plant

Controller

Simulation Results

April 2015 Modern Control - Vehicle Torque Vectoring 2


Background

● Two types of undesirable vehicle steering dynamics


○ Understeer
○ Oversteer

● TV Advantages:
○ Improved handling
○ Traction when turning
○ Better overall performance in
poor road conditions

April 2015 Modern Control - Vehicle Torque Vectoring 3


Plant Model

April 2015 Modern Control - Vehicle Torque Vectoring 4


Plant: Mathematical Models

Reference Model：

Vehicle Motion Model：

April 2015 Modern Control - Vehicle Torque Vectoring 5


Plant: Simulation Parameters

April 2015 Modern Control - Vehicle Torque Vectoring 6


Controller - State Feedback

Full State Feedback Controller


With Integral Action:
● Controllable system
● Pole placement using Matlab

Controllability Matrix:

Control Law:

Closed Loop System:

Block Diagram for Full State


Feedback Controller /with
Integral Action

April 2015 Modern Control - Vehicle Torque Vectoring 7


Controller - State Feedback

Tuning Full State Feedback Controller


With Integral Action:

Tuning Parameters:

Step Response: Close Loop Bode Diagram:

April 2015 Modern Control - Vehicle Torque Vectoring 8


Controller - Sliding Mode

Sliding Mode Controller


● Discontinuous control signal
● Adds robustness to the closed-loop system

Smoothed Error:

Control Law:

April 2015 Modern Control - Vehicle Torque Vectoring 9


Controller - Sliding Mode

Consider the Lyapunov candidate function:

Choose design parameter:

April 2015 Modern Control - Vehicle Torque Vectoring 10


Simulation - HIL Setup

● HIL DEMO

Steering Input Vehicle Yaw Rate

April 2015 Modern Control - Vehicle Torque Vectoring 11


Simulation - HIL Problems

● To resolve controller instability when using HIL:


○ Increased sampling period in Labview
○ Eliminated dead zone when motor changes direction
○ Added scaling to PD controller to replicate gearing
○ More aggressive LPF

Motor speed PD controller

April 2015 Modern Control - Vehicle Torque Vectoring 12


Simulation Results - State Feedback

● State Feedback Controller Performance


○ approximate 0 steady state error
○ 1 sec delay during transients
○ maximum torque range -400N/m to +400N/m

Steering Input Yaw Rate Torque Transfer

April 2015 Modern Control - Vehicle Torque Vectoring 13


Simulation Results - Sliding Mode Control

● 0% ss error
● 0.5 second delay

April 2015 Modern Control - Vehicle Torque Vectoring 14


Controller Comparison

April 2015 Modern Control - Vehicle Torque Vectoring 15


Controller Simulation Video

April 2015 Modern Control - Vehicle Torque Vectoring 16


3DOF Bicycle Model

Distance and Angle Matrix:

Velocity Matrix:

April 2015 Modern Control - Vehicle Torque Vectoring 17


Conclusion

● Two controllers were design to implement torque


vectoring
○ State feedback based on an augmented plant
○ Nonlinear sliding mode controller

● HIL simulation in Labview


○ Results show that sliding mode performs better

● Recommendations
○ Kalman Filter
○ Feedforward controller
○ Adaptive controller

April 2015 Modern Control - Vehicle Torque Vectoring 18


Thank You

Questions?

April 2015 Modern Control - Vehicle Torque Vectoring 19


References
[1] DSC CONTROL. (2012). Retrieved March 30, 2015, from
http://madstyle1972.com/MAZDA6_2014/servicehighlights/books/n6w04/html/id041500103900.html

[2] Burgess, M. Torque vectoring. Retrieved March 17, 2015, from


http://www.vehicledynamicsinternational.com/downloads/VDI_Lotus_Vector.pdf

[3] NAGAI, M., HIRANO, Y., & YAMANAKA, S. (2007). Integrated Control of Active Rear Wheel Steering and Direct Yaw Moment
Control. Retrieved March 17, 2015, from
http://www.tandfonline.com/doi/abs/10.1080/00423119708969336#.VRlpCpPF8WU

[4] Aircraft Pitch: State-Space Methods for Controller Design. (2012). Retrieved March 17, 2015, from
http://ctms.engin.umich.edu/CTMS/index.php?example=AircraftPitch§ion=ControlStateSpace

[5] Slotine, J., & Li, W. (1990). Applied Nonlinear Control Paperback. Prentice Hall; 1 edition. Retrieved March 17, 2015, from
ftp://222.18.54.49/xiaomagecc/Applied%20Nonliear%20control%20[Slotin%201991--Prentice%20Hall].pdf

[6] Thang Truong, D., Meywerk, M., & Tomaske, W. (2013). Torque Vectoring for Rear Axle using Adaptive Sliding Mode Control.
Retrieved March 17, 2015, from
https://www.deepdyve.com/lp/institute-of-electrical-and-electronics-engineers/torque-vectoring-for-rear-axle-using-adaptive-sliding-
mode-control-4RQOOh9G9i

April 2015 Modern Control - Vehicle Torque Vectoring 20

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