Fully electric vehicles with individually controlled drivetrains can provide a high degree of drivability and vehicle safety, all while increasing the cornering limit and the ‘fun-to-drive’ aspect. This paper investigates a new approach on how sideslip control can be integrated into a continuously active yaw rate controller to extend the limit of stable vehicle cornering and to allow sustained high values of sideslip angle. The controllability-related limitations of integrated yaw rate and sideslip control, together with its potential benefits, are discussed through the tools of multi-variable feedback control theory and non-linear phase-plane analysis. Two examples of integrated yaw rate and sideslip control systems are presented and their effectiveness is experimentally evaluated and demonstrated on a four-wheel-drive fully electric vehicle prototype. Results show that the integrated control system allows safe operation at the vehicle cornering limit at a specified sideslip angle independent of the tire-road friction conditions.
|Number of pages||18|
|Journal||Mechanical Systems and Signal Processing|
|Early online date||21 Dec 2015|
|Publication status||Published - 15 Jun 2016|
Bibliographical noteThis is an open access article under the CC-BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/).
- Direct yaw moment control
- Fully electric vehicle
- Yaw rate and sideslip control
- Phase-plane analysis
- Singular value decomposition
- Enhanced Sport Mode
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- Centre for Future Transport and Cities - Assistant Professor in Connected and Autonomous Vehicles
Person: Teaching and Research