Direct yaw moment control and power consumption of in-wheel motor vehicle in steady-state turning

An active energy-efficient direct yaw moment control (DYC) for in-wheel motor electric vehicles taking motor efficiency maps into consideration is proposed in this paper. The potential contribution of DYC to energy saving during quasi-steady-state cornering is analysed. The study in this paper has produced promising results which show that DYC can be used to reduce the power consumption while satisfying the same cornering demand. A controller structure that includes a driver model and an offline torque distribution law during continuous driving and cornering is developed. For comparison, the power consumption of stability DYC is also analysed. Simulations for double lane change manoeuvres are performed and driving conditions either with a constant velocity or with longitudinal acceleration are designed to verify the effectiveness of the proposed controller in different driving situations. Under constant velocity cornering, since the total torque demand is not high, two rear wheels are engaged and during cornering it is beneficial to distribute more torque to one wheel to improve energy efficiency. In the simulated driving manoeuvres, up to 10% energy can be saved compared to other control methods. During acceleration in cornering, since the total torque demand is high, it is energy-efficient to use all the four in-wheel motors during cornering.

Download Full-text

Innovative Active Vehicle Safety Using Integrated Stabilizer Pendulum and Direct Yaw Moment Control

Journal of Dynamic Systems Measurement and Control ◽

10.1115/1.4027499 ◽

2014 ◽

Vol 136 (5) ◽

Cited By ~ 7

Author(s):

Avesta Goodarzi ◽

Fereydoon Diba ◽

Ebrahim Esmailzadeh

Keyword(s):

Control System ◽

Model Simulation ◽

Dynamic Control ◽

Superior Performance ◽

Steering Control ◽

Pendulum System ◽

Direct Yaw Moment Control ◽

Yaw Moment Control ◽

Moment Control ◽

Yaw Moment

Basically, there are two main techniques to control the vehicle yaw moment. First method is the indirect yaw moment control, which works on the basis of active steering control (ASC). The second one being the direct yaw moment control (DYC), which is based on either the differential braking or the torque vectoring. An innovative idea for the direct yaw moment control is introduced by using an active controller system to supervise the lateral dynamics of vehicle and perform as an active yaw moment control system, denoted as the stabilizer pendulum system (SPS). This idea has further been developed, analyzed, and implemented in a standalone direct yaw moment control system, as well as, in an integrated vehicle dynamic control system with a differential braking yaw moment controller. The effectiveness of SPS has been evaluated by model simulation, which illustrates its superior performance especially on low friction roads.

Download Full-text

Comparison of Typical Controllers for Direct Yaw Moment Control Applied on an Electric Race Car

Vehicles ◽

10.3390/vehicles3010008 ◽

2021 ◽

Vol 3 (1) ◽

pp. 127-144

Author(s):

Andoni Medina ◽

Guillermo Bistue ◽

Angel Rubio

Keyword(s):

Handling Performance ◽

Electric Cars ◽

Control Techniques ◽

Race Car ◽

Yaw Rate ◽

Direct Yaw Moment Control ◽

Yaw Moment Control ◽

Moment Control ◽

Race Track ◽

Yaw Moment

Direct Yaw Moment Control (DYC) is an effective way to alter the behaviour of electric cars with independent drives. Controlling the torque applied to each wheel can improve the handling performance of a vehicle making it safer and faster on a race track. The state-of-the-art literature covers the comparison of various controllers (PID, LPV, LQR, SMC, etc.) using ISO manoeuvres. However, a more advanced comparison of the important characteristics of the controllers’ performance is lacking, such as the robustness of the controllers under changes in the vehicle model, steering behaviour, use of the friction circle, and, ultimately, lap time on a track. In this study, we have compared the controllers according to some of the aforementioned parameters on a modelled race car. Interestingly, best lap times are not provided by perfect neutral or close-to-neutral behaviour of the vehicle, but rather by allowing certain deviations from the target yaw rate. In addition, a modified Proportional Integral Derivative (PID) controller showed that its performance is comparable to other more complex control techniques such as Model Predictive Control (MPC).

Download Full-text

Integrated vehicle chassis control for active front steering and direct yaw moment control based on hierarchical structure

Transactions of the Institute of Measurement and Control ◽

10.1177/0142331218801131 ◽

2018 ◽

Vol 41 (9) ◽

pp. 2428-2440 ◽

Cited By ~ 8

Author(s):

Jiaxu Zhang ◽

Jing Li

Keyword(s):

Sliding Mode ◽

Null Space ◽

Level Control ◽

Direct Yaw Moment Control ◽

Active Front Steering ◽

Yaw Moment Control ◽

Chassis Control ◽

Moment Control ◽

Vehicle Chassis ◽

Yaw Moment

This paper presents an integrated vehicle chassis control (IVCC) strategy to improve vehicle handling and stability by coordinating active front steering (AFS) and direct yaw moment control (DYC) in a hierarchical way. In high-level control, the corrective yaw moment is calculated by the fast terminal sliding mode control (FTSMC) method, which may improve the transient response of the system, and a non-linear disturbance observer (NDO) is used to estimate and compensate for the model uncertainty and external disturbance to suppress the chattering of FTSMC. In low-level control, the null-space-based control reallocation method and inverse tyre model are utilized to transform the corrective yaw moment to the desired longitudinal slips and the steer angle increment of front wheels by considering the constraints of actuators and friction ellipse of each wheel. Finally, the performance of the proposed control strategy is verified through simulations of various manoeuvres based on vehicle dynamic software CarSim.

Download Full-text