Journal
MECHANICAL SYSTEMS AND SIGNAL PROCESSING
Volume 75, Issue -, Pages 455-472Publisher
ACADEMIC PRESS LTD- ELSEVIER SCIENCE LTD
DOI: 10.1016/j.ymssp.2015.11.028
Keywords
Direct yaw moment control; Fully electric vehicle; Yaw rate and sideslip control; Phase-plane analysis; Singular value decomposition; Enhanced Sport Mode
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Funding
- European Union Seventh Framework Programme FP7 [284708]
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Fully electric vehicles with individually controlled drivetrains can provide a high degree of drivability and vehicle safety, all while increasing the cornering limit and the 'fun-to-drive' aspect. This paper investigates a new approach on how sideslip control can be integrated into a continuously active yaw rate controller to extend the limit of stable vehicle cornering and to allow sustained high values of sideslip angle. The controllability related limitations of integrated yaw rate and sideslip control, together with its potential benefits, are discussed through the tools of multi-variable feedback control theory and non-linear phase-plane analysis. Two examples of integrated yaw rate and sideslip control systems are presented and their effectiveness is experimentally evaluated and demonstrated on a four-wheel-drive fully electric vehicle prototype. Results show that the integrated control system allows safe operation at the vehicle cornering limit at a specified sideslip angle independent of the tire-road friction conditions. (C) 2015 The Authors. Published by Elsevier Ltd.
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