Hybrid electric vehicles (HEV) offer improved fuel efficiency compared to their conventional counterparts at the expense of adding complexity and at times, reduced total power. As a result, HEV generally lack the dynamic performance that customers enjoy. To address this issue, the paper presents a HEV with electric all-wheel drive (eAWD) capabilities via the use of a torque vectoring electric rear axle drive (TVeRAD) unit to power the rear axle. The addition of TVeRAD to a front wheel drive HEV improves the total power output. To further improve the handling characteristics of the vehicle, the TVeRAD unit allows for wheel torque vectoring (TV) at the rear axle. A bond graph model of the proposed drivetrain model is developed and used in cosimulation with carsim. The paper proposes a control system, which utilizes slip ratio optimization to allocate control to each tire. The optimization algorithm is used to obtain optimal slip ratio targets to at each tire such that the targets avoid tire saturation. The Youla parameterization technique is used to develop robust tracking controllers for each axle. The proposed control system is ultimately tested on the drivetrain model with a high fidelity carsim vehicle model for validation. Simulation results show that the control system is able to maximize vehicle longitudinal performance while avoiding tire saturation on a low μ surface. More importantly, the control system is able to track the desired yaw moment request on a high-speed double-lane change (DLC) maneuver through the use of the TVeRAD to improve the handling characteristic of the vehicle.
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September 2018
Research-Article
Vehicle Dynamics Control of eAWD Hybrid Electric Vehicle Using Slip Ratio Optimization and Allocation
Jose Velazquez Alcantar,
Jose Velazquez Alcantar
Mem. ASME
Advanced Research and Engineering,
Ford Motor Company,
Dearborn, MI 48124
e-mail: jvelaz42@ford.com
Advanced Research and Engineering,
Ford Motor Company,
Dearborn, MI 48124
e-mail: jvelaz42@ford.com
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Francis Assadian,
Francis Assadian
Professor
Mem. ASME
Department of Mechanical and Aerospace
Engineering,
University of California, Davis,
Davis, CA 95616
e-mail: fassadian@ucdavis.edu
Mem. ASME
Department of Mechanical and Aerospace
Engineering,
University of California, Davis,
Davis, CA 95616
e-mail: fassadian@ucdavis.edu
Search for other works by this author on:
Ming Kuang
Ming Kuang
Mem. ASME
Advanced Research and Engineering,
Ford Motor Company,
Dearborn, MI 48124
e-mail: mkuang@ford.com
Advanced Research and Engineering,
Ford Motor Company,
Dearborn, MI 48124
e-mail: mkuang@ford.com
Search for other works by this author on:
Jose Velazquez Alcantar
Mem. ASME
Advanced Research and Engineering,
Ford Motor Company,
Dearborn, MI 48124
e-mail: jvelaz42@ford.com
Advanced Research and Engineering,
Ford Motor Company,
Dearborn, MI 48124
e-mail: jvelaz42@ford.com
Francis Assadian
Professor
Mem. ASME
Department of Mechanical and Aerospace
Engineering,
University of California, Davis,
Davis, CA 95616
e-mail: fassadian@ucdavis.edu
Mem. ASME
Department of Mechanical and Aerospace
Engineering,
University of California, Davis,
Davis, CA 95616
e-mail: fassadian@ucdavis.edu
Ming Kuang
Mem. ASME
Advanced Research and Engineering,
Ford Motor Company,
Dearborn, MI 48124
e-mail: mkuang@ford.com
Advanced Research and Engineering,
Ford Motor Company,
Dearborn, MI 48124
e-mail: mkuang@ford.com
Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT,AND CONTROL. Manuscript received November 6, 2017; final manuscript received February 21, 2018; published online April 9, 2018. Assoc. Editor: Mahdi Shahbakhti.
J. Dyn. Sys., Meas., Control. Sep 2018, 140(9): 091010 (12 pages)
Published Online: April 9, 2018
Article history
Received:
November 6, 2017
Revised:
February 21, 2018
Citation
Alcantar, J. V., Assadian, F., and Kuang, M. (April 9, 2018). "Vehicle Dynamics Control of eAWD Hybrid Electric Vehicle Using Slip Ratio Optimization and Allocation." ASME. J. Dyn. Sys., Meas., Control. September 2018; 140(9): 091010. https://doi.org/10.1115/1.4039486
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