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

doi:10.1007/978-3-030-38077-9_177

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

^*Corresponding author for this work

Intelligent Vehicles

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

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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 language	English
Title of host publication	Advances in Dynamics of Vehicles on Roads and Tracks
Subtitle of host publication	Proceedings of the 26th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2019
Editors	Matthijs Klomp, Fredrik Bruzelius, Jens Nielsen, Angela Hillemyr
Place of Publication	Cham, Switzerland
Publisher	Springer
Pages	1543-1551
ISBN (Electronic)	978-3-030-38077-9
ISBN (Print)	978-3-030-38076-2
DOIs	https://doi.org/10.1007/978-3-030-38077-9_177
Publication status	Published - 2019
Event	26th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2019 - Gothenburg, Sweden Duration: 12 Aug 2019 → 16 Aug 2019

Publication series

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

Conference

Conference	26th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2019
Country/Territory	Sweden
City	Gothenburg
Period	12/08/19 → 16/08/19

Bibliographical note

Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care

Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.

Keywords

Electric vehicles
Torque vectoring
Yaw rate control

Access to Document

10.1007/978-3-030-38077-9_177

Agliullin2020_Chapter_TorqueVectoringControlOnIceForFinal published version, 1.85 MB

Cite this

Agliullin, T., Ivanov, V., Ricciardi, V., Acosta, M., Augsburg, K., Sandu, C., Shyrokau, B., & Savitski, D. (2019). 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

Agliullin, Timur ; Ivanov, Valentin ; Ricciardi, Vincenzo et al. / Torque Vectoring Control on Ice for Electric Vehicles with Individually Actuated Wheels. Advances in Dynamics of Vehicles on Roads and Tracks : Proceedings of the 26th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2019. editor / Matthijs Klomp ; Fredrik Bruzelius ; Jens Nielsen ; Angela Hillemyr. Cham, Switzerland : Springer, 2019. pp. 1543-1551 (Lecture Notes in Mechanical Engineering).

@inproceedings{55fbcc5f846a4b78b8b8faada574da68,

title = "Torque Vectoring Control on Ice for Electric Vehicles with Individually Actuated Wheels",

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.",

keywords = "Electric vehicles, Torque vectoring, Yaw rate control",

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

note = "Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.; 26th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2019 ; Conference date: 12-08-2019 Through 16-08-2019",

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Agliullin, T, Ivanov, V, Ricciardi, V, Acosta, M, Augsburg, K, Sandu, C, Shyrokau, B & Savitski, D 2019, 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. Lecture Notes in Mechanical Engineering, Springer, Cham, Switzerland, pp. 1543-1551, 26th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2019, Gothenburg, Sweden, 12/08/19. https://doi.org/10.1007/978-3-030-38077-9_177

Torque Vectoring Control on Ice for Electric Vehicles with Individually Actuated Wheels. / Agliullin, Timur; Ivanov, Valentin; Ricciardi, Vincenzo et al.
Advances in Dynamics of Vehicles on Roads and Tracks : Proceedings of the 26th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2019. ed. / Matthijs Klomp; Fredrik Bruzelius; Jens Nielsen; Angela Hillemyr. Cham, Switzerland: Springer, 2019. p. 1543-1551 (Lecture Notes in Mechanical Engineering).

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

TY - GEN

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AU - Agliullin, Timur

AU - Ivanov, Valentin

AU - Ricciardi, Vincenzo

AU - Acosta, Manuel

AU - Augsburg, Klaus

AU - Sandu, Corina

AU - Shyrokau, Barys

AU - Savitski, Dzmitry

N1 - Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.

PY - 2019

Y1 - 2019

N2 - 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.

AB - 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.

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

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

Abstract

Publication series

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Bibliographical note

Keywords

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