Abstract
This paper presents a direct yaw moment control (DYC) for improved lateral stability and agility at severe cornering. A test vehicle was developed for research on highly weighted vehicles such as fully EVs by equipping IWM (In-Wheel Motor) on the front wheels and eLSD (Electronic Limited Slip Differentials) on the rear axle. The control objective is to drive an e4WD system by allocating the torques of four wheels independently. The IWM system on the front wheels provides the agility of yaw behavior, and eLSD on the rear wheels inhibits the yaw behavior at the termination of the turning process. The proposed DYC is composed of a supervisory controller, top-level controller, and bottom-level controller. The supervisory controller determines target behavior based on the desired understeer gradient and desired yaw rate for front and rear torque-vectoring control. The top-level controller calculates a desired yaw moment for the target behavior. The bottom-level controller converts the desired yaw moment to the torque inputs for 4WD torque vectoring. The suggested algorithm was verified through computer simulations and vehicle tests. The vehicle test results present that the integrated control of the front and rear torque-vectoring can improve the handling performance of the test vehicle.
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Abbreviations
- F yf, F yr :
-
lateral forces of front and rear tires
- I f, l r :
-
distances from CG to front axle and rear axle
- α f, α r :
-
tire slip angle of front and rear wheels
- C f, C r :
-
cornering stiffness of the front and rear tires
- v :
-
vehicle Velocity
- β :
-
side slip angle of the vehicle
- μ :
-
friction coefficient of the road
- v :
-
vehicle Velocity
- m :
-
mass of the vehicle
- γ, ψ :
-
yaw rate and yaw angle
- δ f :
-
steering angle of the front tire
- I zz :
-
yaw moment of inertia on the vehicle
- r eff :
-
effective rolling radius of tire
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Acknowledgement
This research was supported by SNU-IAMD, FMTC and Hyundai Motor Company. The Institute of Engineering Research at Seoul National University provided research facilities for this work. This work is supported by the Korea Agency for Infrastructure Technology Advancement (KAIA) grant funded by the Ministry of Land, Infrastructure and Transport (Grant 21TLRP-B146733-04).
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Park, J.Y., Na, S., Cha, H. et al. Direct Yaw Moment Control with 4WD Torque-Vectoring for Vehicle Handling Stability and Agility. Int.J Automot. Technol. 23, 555–565 (2022). https://doi.org/10.1007/s12239-022-0051-9
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DOI: https://doi.org/10.1007/s12239-022-0051-9