H∞ loop shaping for the torque-vectoring control of electric vehicles: Theoretical design and experimental assessment

Qian Lu; Aldo Sorniotti; Patrick Gruber; Johan Theunissen; Jasper De Smet

doi:10.1016/j.mechatronics.2015.12.005

H∞ loop shaping for the torque-vectoring control of electric vehicles: Theoretical design and experimental assessment

Qian Lu, Aldo Sorniotti, Patrick Gruber, Johan Theunissen, Jasper De Smet

Research output: Contribution to journal › Article › peer-review

56 Citations (Scopus)

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Abstract

This paper presents an H∞ torque-vectoring control formulation for a fully electric vehicle with four individually controlled electric motor drives. The design of the controller based on loop shaping and a state observer configuration is discussed, considering the effect of actuation dynamics. A gain scheduling
of the controller parameters as a function of vehicle speed is implemented. The increased robustness of the H∞ controller with respect to a Proportional Integral controller is analyzed, including simulations with different tire parameters and vehicle inertial properties. Experimental results on a four-wheel-drive
electric vehicle demonstrator with on-board electric drivetrains show that this control formulation does not need a feedforward contribution for providing the required cornering response in steady-state and transient conditions.

Original language	English
Pages (from-to)	32-43
Number of pages	12
Journal	Mechatronics
Volume	35
Early online date	10 Feb 2016
DOIs	https://doi.org/10.1016/j.mechatronics.2015.12.005
Publication status	Published - May 2016
Externally published	Yes

Bibliographical note

Keywords

Electric vehicles
Torque-vectoring
Yaw rate control
H∞ loop shaping
Actuation dynamics
Experimental tests

Access to Document

10.1016/j.mechatronics.2015.12.005Licence: CC BY-NC-ND

PublishedFinal published version, 3.48 MBLicence: CC BY-NC-ND

Cite this

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title = "H∞ loop shaping for the torque-vectoring control of electric vehicles: Theoretical design and experimental assessment",

abstract = "This paper presents an H∞ torque-vectoring control formulation for a fully electric vehicle with four individually controlled electric motor drives. The design of the controller based on loop shaping and a state observer configuration is discussed, considering the effect of actuation dynamics. A gain schedulingof the controller parameters as a function of vehicle speed is implemented. The increased robustness of the H∞ controller with respect to a Proportional Integral controller is analyzed, including simulations with different tire parameters and vehicle inertial properties. Experimental results on a four-wheel-driveelectric vehicle demonstrator with on-board electric drivetrains show that this control formulation does not need a feedforward contribution for providing the required cornering response in steady-state and transient conditions.",

keywords = "Electric vehicles, Torque-vectoring, Yaw rate control, H∞ loop shaping, Actuation dynamics, Experimental tests",

author = "Qian Lu and Aldo Sorniotti and Patrick Gruber and Johan Theunissen and {De Smet}, Jasper",

note = "{\textcopyright} 2016 The Authors. Published by Elsevier Ltd. This is an open access article under the CC BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/).",

year = "2016",

month = may,

doi = "10.1016/j.mechatronics.2015.12.005",

language = "English",

volume = "35",

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AU - Lu, Qian

AU - Sorniotti, Aldo

AU - Gruber, Patrick

AU - Theunissen, Johan

AU - De Smet, Jasper

PY - 2016/5

Y1 - 2016/5

N2 - This paper presents an H∞ torque-vectoring control formulation for a fully electric vehicle with four individually controlled electric motor drives. The design of the controller based on loop shaping and a state observer configuration is discussed, considering the effect of actuation dynamics. A gain schedulingof the controller parameters as a function of vehicle speed is implemented. The increased robustness of the H∞ controller with respect to a Proportional Integral controller is analyzed, including simulations with different tire parameters and vehicle inertial properties. Experimental results on a four-wheel-driveelectric vehicle demonstrator with on-board electric drivetrains show that this control formulation does not need a feedforward contribution for providing the required cornering response in steady-state and transient conditions.

AB - This paper presents an H∞ torque-vectoring control formulation for a fully electric vehicle with four individually controlled electric motor drives. The design of the controller based on loop shaping and a state observer configuration is discussed, considering the effect of actuation dynamics. A gain schedulingof the controller parameters as a function of vehicle speed is implemented. The increased robustness of the H∞ controller with respect to a Proportional Integral controller is analyzed, including simulations with different tire parameters and vehicle inertial properties. Experimental results on a four-wheel-driveelectric vehicle demonstrator with on-board electric drivetrains show that this control formulation does not need a feedforward contribution for providing the required cornering response in steady-state and transient conditions.

KW - Electric vehicles

KW - Torque-vectoring

KW - Yaw rate control

KW - H∞ loop shaping

KW - Actuation dynamics

KW - Experimental tests

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DO - 10.1016/j.mechatronics.2015.12.005

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SN - 0957-4158

VL - 35

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EP - 43

JO - Mechatronics

JF - Mechatronics

ER -

H∞ loop shaping for the torque-vectoring control of electric vehicles: Theoretical design and experimental assessment

Abstract

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Keywords

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Qian Lu

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H∞ loop shaping for the torque-vectoring control of electric vehicles: Theoretical design and experimental assessment

Abstract

Bibliographical note

Keywords

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Qian Lu

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