Development of Wheel Slip Controller within Torque Vectoring

  • Ziad Georges Rizk

Studienabschlussarbeit: Masterarbeit

Abstract

While Torque Vectoring systems offer significant potential in improving a vehicle’s stability and cornering response, this advantage can become a disadvantage if friction conditions are overestimated, causing excess torque to be sent to the wheels, exceeding the traction limit. This study implements two wheel slip control approaches to enhance the performance of a torque vectoring system and tests the effect of adding a vehicle side-slip angle control, which is widely used in the industry. The first wheel slip control approach, integrates a wheel slip controller into the lower-level controller of the torque vectoring system, generating a compensation torque to reduce the torques initially allocated by the torque vectoring system based on the wheel slip ratio. The second approach, modifies the torque vectoring system structure by implementing a wheel slip allocation algorithm instead of the conventional torque allocation. Additionally, the vehicle side-slip angle compensation approach modifies the torque vectoring yaw rate reference depending on the vehicle side-slip angle value. The results indicated that while the second wheel slip control approach effectively limits wheel slips, it negatively impacts velocity and path performance. Side-slip angle compensation significantly improved the original torque vectoring system performance, stabilizing the vehicle until a friction coefficient of 0.6 but not below. Finally, the first wheel slip control approach offered the best performance among the tested methods, stabilizing the vehicle even at a friction coefficient of 0.3 and achieving the highest scores in slip limitation, velocity, and path tracking
Datum der Bewilligung2024
OriginalspracheDeutsch (Österreich)
Betreuer/-inGerald Steinmaurer (Betreuer*in) & Harald Kirchsteiger (Betreuer*in)

Zitieren

'