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Inverse Model based Torque Vectoring Control For a Rear Wheel Driven Battery Electric Vehicle

Bünte, Tilman and Kaspar, Stephan and Hohmann, Sören and Brembeck, Jonathan (2014) Inverse Model based Torque Vectoring Control For a Rear Wheel Driven Battery Electric Vehicle. In: Proceedings of the 19th IFAC World Congress, pp. 12016-12022. 19th World Congress of the International Federation of Automatic Control, August 24-29, 2014, Cape Town, South Africa. doi: 10.3182/20140824-6-ZA-1003.00802. ISSN 1474-6670.

Full text not available from this repository.

Official URL: http://dx.doi.org/10.3182/20140824-6-ZA-1003.00802


This paper presents the torque vectoring control concept for a vehicle with two powerful wheel individual electric drives at the rear axle. The direct yaw moment control which is enabled by a differential torque at the rear axle drives offers the potential for shaping the yaw motion of the car in a considerable range. The control concept introduced here is primarily oriented at practical considerations. Together with the tools presented it is conveniently adaptable to any vehicle data. The focus is on yaw dynamics control. A reference yaw rate is determined by combining conveniently tunable linear dynamics with a nonlinear steady state gain, the latter in order to establish a desired self-steering behavior. An inverse single track model is used for cancellation of the yaw dynamics induced by the yaw torque. It is a significant part of the applied feed-forward control. Moreover, it is employed by the optional yaw rate feedback control which is based on the inverse disturbance observer scheme. Both the effectiveness of the control concept and the practical ease of control parameter calibration were validated in driving experiments.

Item URL in elib:https://elib.dlr.de/92062/
Document Type:Conference or Workshop Item (Speech)
Title:Inverse Model based Torque Vectoring Control For a Rear Wheel Driven Battery Electric Vehicle
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Bünte, TilmanUNSPECIFIEDhttps://orcid.org/0000-0002-7214-5183UNSPECIFIED
Hohmann, SörenKarlsruher Institut für TechnologieUNSPECIFIEDUNSPECIFIED
Brembeck, JonathanUNSPECIFIEDhttps://orcid.org/0000-0002-7671-5251UNSPECIFIED
Journal or Publication Title:Proceedings of the 19th IFAC World Congress
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
Page Range:pp. 12016-12022
Series Name:IFAC Proceedings Volumes (IFAC-PapersOnline)
Keywords:Fahrdynamikregelung, Elektromobilität
Event Title:19th World Congress of the International Federation of Automatic Control
Event Location:Cape Town, South Africa
Event Type:international Conference
Event Dates:August 24-29, 2014
Organizer:International Federation of Automatic Control (IFAC)
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Transport
HGF - Program Themes:Terrestrial Vehicles (old)
DLR - Research area:Transport
DLR - Program:V BF - Bodengebundene Fahrzeuge
DLR - Research theme (Project):V - Project Fahrzeugintelligenz und Fahrwerk (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of System Dynamics and Control > Vehicle System Dynamics
Deposited By: Bünte, Dr.-Ing. Tilman
Deposited On:18 Nov 2014 12:07
Last Modified:10 Jul 2023 13:49

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