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Direct yaw moment control actuated through electric drivetrains and friction brakes: Theoretical design and experimental assessment

De Novellis, L, Sorniotti, A, Gruber, P, Orus, J, Rodriguez Fortun, J-M, Theunissen, J and De Smet, J (2014) Direct yaw moment control actuated through electric drivetrains and friction brakes: Theoretical design and experimental assessment Mechatronics, 26. pp. 1-15.

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Abstract

A significant challenge in electric vehicles with multiple motors is how to control the individual drivetrains in order to achieve measurable benefits in terms of vehicle cornering response, compared to conventional stability control systems actuating the friction brakes. This paper presents a direct yaw moment controller based on the combination of feedforward and feedback contributions for continuous yaw rate control. When the estimated sideslip exceeds a pre-defined threshold, a sideslip-based yaw moment contribution is activated. All yaw moment contributions are entirely tunable through model-based approaches, for reduced vehicle testing time. The purpose of the controller is to continuously modify the vehicle understeer characteristic in quasi-static conditions and increase yaw and sideslip damping during transients. Skid-pad, step-steer and sweep steer tests are carried out with a front-wheel-drive fully electric vehicle demonstrator with two independent drivetrains. The experimental test results of the electric motor-based actuation of the direct yaw moment controller are compared with those deriving from the friction brake-based actuation of the same algorithm, which is a major contribution of this paper. The novel results show that continuous direct yaw moment control allows significant "on-demand" changes of the vehicle response in cornering conditions and to enhance active vehicle safety during extreme driving maneuvers.

Item Type: Article
Subjects : Mechanical Engineering
Divisions : Faculty of Engineering and Physical Sciences > Mechanical Engineering Sciences
Authors :
AuthorsEmailORCID
De Novellis, LUNSPECIFIEDUNSPECIFIED
Sorniotti, AUNSPECIFIEDUNSPECIFIED
Gruber, PUNSPECIFIEDUNSPECIFIED
Orus, JUNSPECIFIEDUNSPECIFIED
Rodriguez Fortun, J-MUNSPECIFIEDUNSPECIFIED
Theunissen, JUNSPECIFIEDUNSPECIFIED
De Smet, JUNSPECIFIEDUNSPECIFIED
Date : 8 June 2014
Identification Number : 10.1016/j.mechatronics.2014.12.003
Copyright Disclaimer : © 2015 The Authors. Published by Elsevier Ltd. This is an open access article under the CC BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/).
Uncontrolled Keywords : Direct yaw moment control, Fully electric vehicle, Yaw rate, Sideslip, Friction brake
Additional Information : Copyright © 2015 The Authors. Published by Elsevier Ltd. This is an open access article under the CC BY-NC-ND license.
Depositing User : Symplectic Elements
Date Deposited : 01 Jul 2015 13:58
Last Modified : 02 Nov 2016 12:16
URI: http://epubs.surrey.ac.uk/id/eprint/807340

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