Model Predictive torque vectoring control for electric vehicles near the limits of handling

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2015-11-16

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Institute of Electrical and Electronics Engineers

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Efstathios Siampis, Efstathios Velenis and Stefano Longo. Model Predictive torque vectoring control for electric vehicles near the limits of handling. European Control Conference, ECC 2015. 15-17 July 2015, Linz, Austria. pp2553-2558

Abstract

In this paper we propose a constrained optimal control architecture to stabilize a vehicle near the limit of lateral acceleration using the rear axle electric torque vectoring configuration of an electric vehicle. A nonlinear vehicle and tyre model is employed to find reference steady-state cornering conditions as well as to design a linear Model Predictive Control (MPC) strategy using the rear wheels' slip ratios as input. A Sliding Mode Slip Controller then calculates the necessary motor torques according to the requested wheel slip ratios. After analysing the relative trade-offs between performance and computational effort for the MPC strategy, we validate the controller and compare it against a simpler unconstrained optimal control strategy in a high fidelity simulation environment.

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