Riassunto analitico
Electronic devices to improve vehicle dynamics are widely spread in the automotive industry. Most of them are designed to control a single target, but there are situations in which the optimal vehicle condition is a trade-off between different objectives, for example stability and performance. The purpose of this study is to develop a unique system which optimizes the vehicle stability and performance in longitudinal, lateral, and combined slip conditions, integrating torque vectoring and traction control logics. It is presented the development of an integrated multi-objective controller for a hybrid powertrain vehicle application using the Model Predictive Control (MPC) approach. The vehicle is a high-performance car equipped with two electric motors at the front axle, one for each wheel, and an internal combustion engine which drives the rear wheels. The rear powertrain also includes a gearbox and a controlled differential, which allows to manage the torque distribution between left and right rear wheels. The control system receives as inputs the throttle signal and the steering wheel angle from the driver and provides as outputs the value of torque for each of the four wheels. It manages the torque distribution between front and rear axles, it integrates the logics of torque vectoring and traction control and optimizes the dynamic behaviour of the vehicle also in combined slip conditions. It also includes three different driving modes: comfort, wet and sport.
Simulation results show an improvement of vehicle stability and performance in longitudinal, combined, and lateral slip conditions, both in dry and wet road.
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