Development of Torque Vectoring Control Algorithm for Front Wheel Driven Dual Motor System and Evaluation of Vehicle Dyn
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ght © 2020 KSAE/ 11721 pISSN 12299138/ eISSN 19763832
DEVELOPMENT OF TORQUE VECTORING CONTROL ALGORITHM FOR FRONT WHEEL DRIVEN DUAL MOTOR SYSTEM AND EVALUATION OF VEHICLE DYNAMICS PERFORMANCE Jae-Young Park1), Seung-Jin Heo2)* and Dae-Oh Kang3) Graduate school of Automotive Engineering, Kookmin University, Seoul 02707, Korea 2) School of Automotive Engineering, Kookmin University, Seoul 02707, Korea 3) Institute of Vehicle Engineering, Kookmin University, Seoul 02707, Korea
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(Received 15 February 2019; Revised 24 August 2019; Accepted 6 January 2020) ABSTRACTThis study developed a control algorithm of torque vectoring system to improve the handling performance of a green-car and evaluate the performance of vehicle dynamics to improve the controllability and stability. Firstly, this study configured the control algorithm with the supervisory controller that decides the control mode by checking the current driving status of a vehicle, target yawrate calculator that reflects the steady-state and transient-state response characteristics according to the control mode, as well as the reference yawrate calculation, desired yaw moment calculation and transferred torque calculation. The control mode consists of the agile mode that controls the torque vectoring to improve the controllability and the safe mode that controls the torque vectoring to improve stability. Secondly, this study performed the modeling of the dual motor type torque vectoring system and an EV AWD vehicle. Lastly, this study defined the driving test scenario and evaluation method as well as the quantitative performance index for each vehicle test and established the co-simulation environment for the handling test evaluation. This study found that when a vehicle is controlled by applying the torque vectoring system, handling performance was improved according to controllability and safe mode by verifying the simulation. KEY WORDS : Torque Vectoring System, Handling Performance, Vehicle Dynamics, Dual Motor System, Control Algorithm
NOMENCLATURE Fx Fy Fz ay v Kus T M
industry is launching various of types of a green-car including EV, HEV, PHEV, FCEV, etc., to minimize the use of existing fossil fuels and to improve fuel efficiency. Recently, consumers are demanding the same performance of driving and braking, ride comfort and handling, active and passive safety, noise and vibration, durability, from a green-car as exist in high performance internal combustion vehicles. In order to satisfy such consumer demands, the automobile industry performs various studies to develop technologies for the elements of high performance greencar. As representative studies, the automobile industry performs studies on the improvement of vehicle dynamics performance of a green-car by improving the acceleration performance using a motor as an auxiliary power source as well as handling performance by applying the torque vectoring technology and the technologies of distributing the driving force to front and rear wheels.
: longitudinal tire force, N : lateral tire f
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