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Yaw Rate and Sideslip Angle Control through Single Input Single Output Direct Yaw Moment Control

Lenzo, B., Zanchetta, M., Sorniotti, A., Gruber, P. and De Nijs, W. (2019) Yaw Rate and Sideslip Angle Control through Single Input Single Output Direct Yaw Moment Control IEEE Transactions on Control Systems Technology.

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Electric vehicles with independently controlled drivetrains allow torque-vectoring, which enhances active safety and handling qualities. This paper proposes an approach for the concurrent control of yaw rate and sideslip angle based on a single input single output (SISO) yaw rate controller. With the SISO formulation, the reference yaw rate is firstly defined according to the vehicle handling requirements, and is then corrected based on the actual sideslip angle. The sideslip angle contribution guarantees a prompt corrective action in critical situations such as incipient vehicle oversteer during limit cornering in low tire-road friction conditions. A design methodology in the frequency domain is discussed, including stability analysis based on the theory of switched linear systems. The performance of the control structure is assessed via: i) phase-plane plots obtained with a non-linear vehicle model; ii) simulations with an experimentally validated model, including multiple feedback control structures; and iii) experimental tests on an electric vehicle demonstrator along step steer maneuvers with purposely induced and controlled vehicle drift. Results show that the SISO controller allows constraining the sideslip angle within the predetermined thresholds and yields tire-road friction adaptation with all the considered feedback controllers.

Item Type: Article
Divisions : Faculty of Engineering and Physical Sciences > Mechanical Engineering Sciences
Authors :
Lenzo, B.
De Nijs, W.
Date : 9 October 2019
Copyright Disclaimer : © 2019 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Uncontrolled Keywords : Electric vehicle; Torque-vectoring; Yaw rate control; Sideslip angle control; Tire-road friction coefficient; Controlled drift; Experimental tests
Depositing User : Diane Maxfield
Date Deposited : 08 Nov 2019 11:12
Last Modified : 08 Nov 2019 11:12

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