Design of yaw rate controller for electric vehicle

master's thesis

• Title (croatian): Projektiranje sustava upravljanja brzinom skretanja električnog vozila
• Author: Filip Kolarić
• Mentor: Mario Hrgetić (mentor)
• Committee member: Biserka Runje (predsjednik povjerenstva)
• Committee member: Mario Hrgetić (član povjerenstva)
• Committee member: Mihael Cipek (član povjerenstva)
• Committee member: Miro Hegedić (član povjerenstva)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2023-01-26, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Mechanical Engineering

Abstract

Modern electric vehicles are typically equipped with more than one electric motor. The ability to install and use more than one electric motor introduces another degree of freedom in terms of vehicle handling. This over-actuation offers substantial opportunities for active yaw dynamics control, most notably torque vectoring – the distribution of wheel torques between multiple wheels. In the last ten years, the yaw rate control of electric vehicles with multiple electric motors and the development of optimal control strategies have been subject to intensive research with the goal of improving safety, performance, and overall driving experience. The main goal of this thesis is to propose and evaluate the performance of one such yaw rate control system. First, current state-of-the-art yaw rate reference generators are overviewed, and a method is proposed to generate yaw rate reference using AVL VSM™ to analyse the steady-state and transient behaviour of the vehicle. An alternative, time-optimal yaw reference generator is also proposed, as a basis for future work. The second approach uses the kinematic vehicle model with a non-linear tire model that is used throughout this work. Based on a detailed literature review, a few yaw moment controllers are compared, and a PD^3 controller is chosen as a promising and robust option. The proposed Daisy-chain torque allocation is worked out in detail, explaining the reasons for the application of such a design. The yaw rate control system is modelled in MathWorks MATLAB/Simulink® and run in co-simulation with AVL VSM™. Finally, the yaw rate control system is evaluated on several test manoeuvres.

Abstract (croatian)

Moderna električna vozila obično su opremljena s više od jednog elektromotora. Mogućnost ugradnje i korištenja više od jednog elektromotora unosi još jedan stupanj slobode u pogledu upravljanja vozilom. Ova pojava većeg broja upravljačkih jedinica nego što ima stanja kojima treba upravljati (over-actuation), pruža znatne mogućnosti aktivnom upravljanju dinamike skretanja, ponajprije vektoriranju momenata – raspodjeli okretnog momenta kotača između više kotača. U posljednjih deset godina, upravljanje brzine skretanja električnih vozila s više elektromotora i razvoj optimalnih strategija upravljanja predmet su intenzivnih istraživanja s ciljem poboljšanja sigurnosti, performansi i cjelokupnog iskustva vožnje. Glavni cilj ovog diplomskog rada je predložiti i komentirati performanse jednog takvog sustava za upravljanje brzine skretanja. Prvo su pregledani trenutni najsuvremeniji generatori referentne brzine skretanja i predložena je metoda za generiranje referentne brzine skretanja uz pomoć AVL VSM™ koji je korišten za analizu stacionarnog i tranzijentnog ponašanja vozila. Zastim je predložen i vremenski optimalan referentni generator brzine skretanja također kao osnova za budući rad. Ovaj pristup koristi kinematički model vozila s nelinearnim modelom gume koji se koristi u ovom radu. Pregledom literature uspoređeno je nekoliko regulatora momenta skretanja, te je PD^3 regulator odabran kao obećavajuća i robusna opcija. Predložena daisy-chain raspodjela momenta je detaljno razrađena uz objašnjenje razloga odabira takvog dizajna. Sustav upravljanja brzine skretanja modeliran je u MathWorks MATLAB/Simulink® i izvodi se u ko-simulaciji s AVL VSM™. Naposlijetku se sustav upravljanja brzine skretanja analizira na nekoliko testnih manevara.

• Keywords: electric vehicle; over-actuation; yaw rate control; reference generator; PD^3 yaw moment controller; daisy-chain torque allocation
• Keywords (croatian): electrično vozilo; over-actuation; upravljanje brzinom skretanja; generator reference; PD^3 regulator momenta skretanja; daisy-chain raspodjela momenata
• Language: english
• URN:NBN: urn:nbn:hr:235:350350
• Study programme: Title: Mechanical Engineering; Study programme type: university; Study level: graduate; Academic / professional title: magistar/magistra inženjer/inženjerka strojarstva (magistar/magistra inženjer/inženjerka strojarstva)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Embargoed access; Embargo expiration date: 2025-01-01
• Created on: 2023-01-23 09:15:16