Torque Vectoring Control on Ice for Electric Vehicles with Individually Actuated Wheels

Timur Agliullin, Valentin Ivanov, Vincenzo Ricciardi, Manuel Acosta, Klaus Augsburg, Corina Sandu, Barys Shyrokau, Dzmitry Savitski

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

Abstract

Recent studies on torque vectoring control for electric vehicles proposed various efficient solutions demonstrating improvement of vehicle stability for evasive manoeuvres. However, the torque vectoring on very low friction surfaces such as black ice or wet snow is rarely investigated, especially for the electric vehicles with off-road capability. The presented study contributes to this topic by laying the groundwork for further advanced torque vectoring designs. Within the framework of this paper, the target vehicle is a sport utility vehicle equipped with four on-board electric motors controlling each wheel separately. The functionality of the developed controllers is tested under hardware-in-the-loop simulations for icy road conditions. For this purpose, the tyre model has been parameterized and validated based on the experimental data conducted on a unique terramechanics test rig at Virginia Polytechnic Institute and State University. The test results confirm very good functionality of the developed controllers and demonstrate an improvement of the electric vehicle driving performance.

Original languageEnglish
Title of host publicationAdvances in Dynamics of Vehicles on Roads and Tracks
Subtitle of host publicationProceedings of the 26th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2019
EditorsMatthijs Klomp, Fredrik Bruzelius, Jens Nielsen, Angela Hillemyr
Place of PublicationCham, Switzerland
PublisherSpringer
Pages1543-1551
ISBN (Electronic)978-3-030-38077-9
ISBN (Print)978-3-030-38076-2
DOIs
Publication statusPublished - 2020
Event26th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2019 - Gothenburg, Sweden
Duration: 12 Aug 201916 Aug 2019

Publication series

NameLecture Notes in Mechanical Engineering
ISSN (Print)2195-4356
ISSN (Electronic)2195-4364

Conference

Conference26th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2019
CountrySweden
CityGothenburg
Period12/08/1916/08/19

Keywords

  • Electric vehicles
  • Torque vectoring
  • Yaw rate control

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    Agliullin, T., Ivanov, V., Ricciardi, V., Acosta, M., Augsburg, K., Sandu, C., Shyrokau, B., & Savitski, D. (2020). Torque Vectoring Control on Ice for Electric Vehicles with Individually Actuated Wheels. In M. Klomp, F. Bruzelius, J. Nielsen, & A. Hillemyr (Eds.), Advances in Dynamics of Vehicles on Roads and Tracks : Proceedings of the 26th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2019 (pp. 1543-1551). (Lecture Notes in Mechanical Engineering). Springer. https://doi.org/10.1007/978-3-030-38077-9_177