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Effect of handling characteristics on minimum time cornering with torque vectoring

Smith, E, Velenis, E, Tavernini, Davide and Cao, D (2017) Effect of handling characteristics on minimum time cornering with torque vectoring Vehicle System Dynamics, 56 (2). pp. 221-248.

VSD_OptimalYawRateRefTV_ACCEPTED VERSION.pdf - Accepted version Manuscript

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In this paper, the effect of both passive and actively-modified vehicle handling characteristics on minimum time manoeuvring for vehicles with 4-wheel torque vectoring (TV) capability is studied. First, a baseline optimal torque vectoring strategy is sought, independent of any causal control law. An optimal control problem (OCP) is initially formulated considering 4 independent wheel torque inputs, together with the steering angle rate, as the control variables. Using this formulation, the performance benefit using torque vectoring against an electric drive train with a fixed torque distribution, is demonstrated. The sensitivity of TV-controlled manoeuvre time to the passive understeer gradient of the vehicle is then studied. A second formulation of the optimal control problem is introduced where a closed-loop torque vectoring controller is incorporated into the system dynamics of the OCP. This formulation allows the effect of actively modifying a vehicle’s handling characteristic via TV on its minimum time cornering performance of the vehicle to be assessed. In particular, the effect of the target understeer gradient as the key tuning parameter of the literature-standard steady-state linear single-track model yaw rate reference is analysed.

Item Type: Article
Divisions : Faculty of Engineering and Physical Sciences > Mechanical Engineering Sciences
Authors :
Smith, E
Velenis, E
Cao, D
Date : 12 September 2017
Funders : EPSRC
DOI : 10.1080/00423114.2017.1371771
Copyright Disclaimer : This is an Accepted Manuscript of an article published by Taylor & Francis in Vehicle System Dynamics on 12 September 2017, available online:
Uncontrolled Keywords : torque vectoring, vehicle handling, electric vehicles, optimal control, yaw rate reference, minimum time
Depositing User : Melanie Hughes
Date Deposited : 12 Jun 2018 14:15
Last Modified : 11 Dec 2018 11:24

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