Experimental modelling and optimal torque vectoring control for 4WD vehicles

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Autores: Morera Torres, Eduard, Ocampo-Martínez, Carlos|||0000-0001-9251-6044, Bianchi, Fernando Daniel|||0000-0001-7332-6501
Tipo de recurso: artículo
Fecha de publicación:2022
País:España
Institución:Universitat Politècnica de Catalunya (UPC)
Repositorio:UPCommons. Portal del coneixement obert de la UPC
Idioma:inglés
OAI Identifier:oai:upcommons.upc.edu:2117/378955
Acceso en línea:https://hdl.handle.net/2117/378955
https://dx.doi.org/10.1109/TVT.2022.3158091
Access Level:acceso abierto
Palabra clave:Four-wheel drive vehicles
Torque vectoring
Torque distribution
Yaw-rate control
Bicycle model
LPV modelling and control
Hinf optimal control
Vehicles de quatre rodes motrius
Àrees temàtiques de la UPC::Informàtica::Automàtica i control
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spelling Experimental modelling and optimal torque vectoring control for 4WD vehiclesMorera Torres, EduardOcampo-Martínez, Carlos|||0000-0001-9251-6044Bianchi, Fernando Daniel|||0000-0001-7332-6501Four-wheel drive vehiclesTorque vectoringTorque distributionYaw-rate controlBicycle modelLPV modelling and controlHinf optimal controlVehicles de quatre rodes motriusÀrees temàtiques de la UPC::Informàtica::Automàtica i control© 2022 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting /republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other worksThis paper addresses the design of a torque vectoring architecture to control the four electrical machines in a four wheel-drive (4WD) formula-type competition vehicle. The scheme includes a new yaw-rate controller and a novel optimal torque distribution algorithm. Two yaw-rate controllers are proposed: one based on H8 optimal control and another based on linear parameter varying (LPV) system concepts. Both controllers are designed using an extended bicycle model validated with experimental data. Simulation results shown the effectiveness of the proposed overall control scheme in terms of energy efficiency, cornering speed and stability no matter the high-demanding working conditions. Such an effectiveness is quantitatively demonstrated by means of several key performance indicators chosen to ease the comparison of the proposed approach with respect to other reported works.Peer ReviewedInstitute of Electrical and Electronics Engineers (IEEE)20222022-01-0120222022-12-20journal articlehttp://purl.org/coar/resource_type/c_6501AMhttp://purl.org/coar/version/c_ab4af688f83e57aainfo:eu-repo/semantics/articleapplication/pdfapplication/pdfhttps://hdl.handle.net/2117/378955https://dx.doi.org/10.1109/TVT.2022.3158091reponame:UPCommons. Portal del coneixement obert de la UPCinstname:Universitat Politècnica de Catalunya (UPC)Inglésengopen accesshttp://purl.org/coar/access_right/c_abf2Attribution-NonCommercial-NoDerivatives 4.0 Internationalhttp://creativecommons.org/licenses/by-nc-nd/4.0/info:eu-repo/semantics/openAccessoai:upcommons.upc.edu:2117/3789552026-05-27T15:37:01Z
dc.title.none.fl_str_mv Experimental modelling and optimal torque vectoring control for 4WD vehicles
title Experimental modelling and optimal torque vectoring control for 4WD vehicles
spellingShingle Experimental modelling and optimal torque vectoring control for 4WD vehicles
Morera Torres, Eduard
Four-wheel drive vehicles
Torque vectoring
Torque distribution
Yaw-rate control
Bicycle model
LPV modelling and control
Hinf optimal control
Vehicles de quatre rodes motrius
Àrees temàtiques de la UPC::Informàtica::Automàtica i control
title_short Experimental modelling and optimal torque vectoring control for 4WD vehicles
title_full Experimental modelling and optimal torque vectoring control for 4WD vehicles
title_fullStr Experimental modelling and optimal torque vectoring control for 4WD vehicles
title_full_unstemmed Experimental modelling and optimal torque vectoring control for 4WD vehicles
title_sort Experimental modelling and optimal torque vectoring control for 4WD vehicles
dc.creator.none.fl_str_mv Morera Torres, Eduard
Ocampo-Martínez, Carlos|||0000-0001-9251-6044
Bianchi, Fernando Daniel|||0000-0001-7332-6501
author Morera Torres, Eduard
author_facet Morera Torres, Eduard
Ocampo-Martínez, Carlos|||0000-0001-9251-6044
Bianchi, Fernando Daniel|||0000-0001-7332-6501
author_role author
author2 Ocampo-Martínez, Carlos|||0000-0001-9251-6044
Bianchi, Fernando Daniel|||0000-0001-7332-6501
author2_role author
author
dc.subject.none.fl_str_mv Four-wheel drive vehicles
Torque vectoring
Torque distribution
Yaw-rate control
Bicycle model
LPV modelling and control
Hinf optimal control
Vehicles de quatre rodes motrius
Àrees temàtiques de la UPC::Informàtica::Automàtica i control
topic Four-wheel drive vehicles
Torque vectoring
Torque distribution
Yaw-rate control
Bicycle model
LPV modelling and control
Hinf optimal control
Vehicles de quatre rodes motrius
Àrees temàtiques de la UPC::Informàtica::Automàtica i control
description © 2022 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting /republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works
publishDate 2022
dc.date.none.fl_str_mv 2022
2022-01-01
2022
2022-12-20
dc.type.none.fl_str_mv journal article
http://purl.org/coar/resource_type/c_6501
AM
http://purl.org/coar/version/c_ab4af688f83e57aa
dc.type.openaire.fl_str_mv info:eu-repo/semantics/article
format article
dc.identifier.none.fl_str_mv https://hdl.handle.net/2117/378955
https://dx.doi.org/10.1109/TVT.2022.3158091
url https://hdl.handle.net/2117/378955
https://dx.doi.org/10.1109/TVT.2022.3158091
dc.language.none.fl_str_mv Inglés
eng
language_invalid_str_mv Inglés
language eng
dc.rights.none.fl_str_mv open access
http://purl.org/coar/access_right/c_abf2
Attribution-NonCommercial-NoDerivatives 4.0 International
http://creativecommons.org/licenses/by-nc-nd/4.0/
dc.rights.openaire.fl_str_mv info:eu-repo/semantics/openAccess
rights_invalid_str_mv open access
http://purl.org/coar/access_right/c_abf2
Attribution-NonCommercial-NoDerivatives 4.0 International
http://creativecommons.org/licenses/by-nc-nd/4.0/
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
application/pdf
dc.publisher.none.fl_str_mv Institute of Electrical and Electronics Engineers (IEEE)
publisher.none.fl_str_mv Institute of Electrical and Electronics Engineers (IEEE)
dc.source.none.fl_str_mv reponame:UPCommons. Portal del coneixement obert de la UPC
instname:Universitat Politècnica de Catalunya (UPC)
instname_str Universitat Politècnica de Catalunya (UPC)
reponame_str UPCommons. Portal del coneixement obert de la UPC
collection UPCommons. Portal del coneixement obert de la UPC
repository.name.fl_str_mv
repository.mail.fl_str_mv
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score 15,300719

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