Electric vehicles with independent in-wheel-motors offer various benefits, both in terms of vehicle architecture possibilities and for the ease in generating yaw moments. It is in fact possible to develop complex control logics based on yaw moment generation for electric or hybrid electric vehicles. In this dissertation an innovative control logic is developed, with the aim to improve the lateral performances of the vehicle. This is a steadystate control logic that can work alongside the electronic stability control already built on the test vehicle model. The system is based on a proportional control over the steer angle, with a fuzzy-logic-based activator. The aim is to enhance the vehicle’s response to a steer input, in order to produce higher values of lateral acceleration with the same steering angle, extend the linear response in vehicle characteristics, and raise the maximum reachable lateral acceleration for the vehicle. This system can be applied to vehicles with 4, 3 or 2 motors, with right and left independent control of the wheels. The performance of the control system and the different vehicle architectures was evaluated using numeric simulations that can reproduce typical test manoeuvres, executed in open-loop or in closed-loop using a pilot model.
I veicoli elettrici con motoruote indipendenti possono offrire diversi vantaggi, sia in termini di versatilità nell’architettura del veicolo, sia per quanto riguarda la generazione di momenti imbardanti. É possibile infatti sviluppare logiche complesse di controllo del veicolo tramite momenti imbardanti per le vetture elettriche o ibride. In questa tesi si sviluppa una logica di controllo innovativo, che ha come obiettivo l’aumento delle prestazioni laterali della vettura. Si tratta di una logica di controllo a regime, che si affianca ad un controllo di stabilità già presente sul veicolo modellato. Il sistema sviluppato si basa su un controllo proporzionale sull’angolo di sterzo, con un attivatore basato su logica fuzzy. L’obiettivo è l’aumento della prontezza del veicolo allo sterzo, in modo da produrre accelerazioni laterali maggiori a pari angolo di sterzo, espandere il tratto lineare della caratteristica del veicolo, e infine aumentare l’accelerazione laterale massima raggiungibile dalla vettura. Questo sistema può essere applicato a veicoli con 4, 3 o 2 motori elettrici, caratterizzati da controllo indipendente tra lato destro e sinistro. Le prestazioni del sistema di controllo e delle diverse architetture sono state valutate attraverso simulazioni numeriche in cui si riproducono manovre tipiche di test normate, eseguite in anello aperto o con un modello di pilota.
Torque vectoring control a regime per veicoli elettrci dotati di motoruote
SIRONI, GABRIELE
2012/2013
Abstract
Electric vehicles with independent in-wheel-motors offer various benefits, both in terms of vehicle architecture possibilities and for the ease in generating yaw moments. It is in fact possible to develop complex control logics based on yaw moment generation for electric or hybrid electric vehicles. In this dissertation an innovative control logic is developed, with the aim to improve the lateral performances of the vehicle. This is a steadystate control logic that can work alongside the electronic stability control already built on the test vehicle model. The system is based on a proportional control over the steer angle, with a fuzzy-logic-based activator. The aim is to enhance the vehicle’s response to a steer input, in order to produce higher values of lateral acceleration with the same steering angle, extend the linear response in vehicle characteristics, and raise the maximum reachable lateral acceleration for the vehicle. This system can be applied to vehicles with 4, 3 or 2 motors, with right and left independent control of the wheels. The performance of the control system and the different vehicle architectures was evaluated using numeric simulations that can reproduce typical test manoeuvres, executed in open-loop or in closed-loop using a pilot model.File | Dimensione | Formato | |
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2013_12_Sironi.pdf
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https://hdl.handle.net/10589/87082