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On the experimental analysis of single input single output control of yaw rate and sideslip angle.

Lenzo, B, Sorniotti, Aldo, Gruber, Patrick and Sannen, K (2017) On the experimental analysis of single input single output control of yaw rate and sideslip angle. International Journal of Automotive Technology.

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Abstract

Electric vehicles with individually controlled drivetrains allow torque-vectoring, which improves vehicle safety and drivability. This paper investigates a new approach to the concurrent control of yaw rate and sideslip angle. The proposed controller is a simple single input single output (SISO) yaw rate controller, in which the reference yaw rate depends on the vehicle handling requirements, and the actual sideslip angle. The sideslip contribution enhances safety, as it provides a corrective action in critical situations, e.g., in case of oversteer during extreme cornering on a low friction surface. The proposed controller is experimentally assessed on an electric vehicle demonstrator, along two maneuvers with quickly variable tire-road friction coefficient. Different longitudinal locations of the sideslip angle used as control variable are compared during the experiments. Results show that: i) the proposed SISO approach provides significant improvements with respect to the vehicle without torque-vectoring, and the controlled vehicle with a reference yaw rate solely based on the handling requirements for high-friction maneuvering; and ii) the control of the rear axle sideslip angle provides better performance than the control of the sideslip angle at the centre of gravity.

Item Type: Article
Subjects : Mechanical Engineering Science
Divisions : Faculty of Engineering and Physical Sciences > Mechanical Engineering Sciences
Authors :
NameEmailORCID
Lenzo, BUNSPECIFIEDUNSPECIFIED
Sorniotti, AldoA.Sorniotti@surrey.ac.ukUNSPECIFIED
Gruber, PatrickP.Gruber@surrey.ac.ukUNSPECIFIED
Sannen, KUNSPECIFIEDUNSPECIFIED
Date : 15 May 2017
Copyright Disclaimer : The final publication will be available at Springer via http://link.springer.com/journal/12239#AboutSection
Uncontrolled Keywords : Electric vehicle; Torque-vectoring; Variable tire-road friction; Sideslip angle; Experiments
Related URLs :
Depositing User : Symplectic Elements
Date Deposited : 15 Feb 2017 15:42
Last Modified : 19 Jul 2017 10:39
URI: http://epubs.surrey.ac.uk/id/eprint/813557

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