The influence of tyre lateral force for control allocation of yaw torque
Paper i proceeding, 2020

The present paper provides a thorough analysis and reveals
the yaw torque generated by tyre lateral forces, due to the well-known
combined slip effect. The indirect yaw torque here is captured by a tyre
model simpli cation designed for the real-time control allocation purpose.
Experiments were carried out by a driving robot, controlling steering
wheel, gas and brake pedal at various manoeuvres. The test vehicle
is equipped with high precision measurement-wheel mounted at each
wheel. It was found that the simpli ed model correlates with the experimental
results, where the relation between the wheel torque distribution
of front/rear axles and the yaw torque generated by tyre lateral forces
are highly dependent on the vehicle lateral acceleration and drive torque
request.

Indirect Yaw torque

Optimal Yaw Torque Control

Control Allocation

Tyre Model

Författare

Derong Yang

Chalmers, Mekanik och maritima vetenskaper, Fordonsteknik och autonoma system

Mats Jonasson

Chalmers, Mekanik och maritima vetenskaper, Fordonsteknik och autonoma system

The 26th IAVSD International Symposium on Dynamics of Vehicles on Roads and Tracks

978-3-030-38077-9 (ISSN)

1536-1542

The 26th IAVSD International Symposium on Dynamics of Vehicles on Roads and Tracks
Göteborg, Sweden,

Ämneskategorier

Farkostteknik

Robotteknik och automation

Reglerteknik

DOI

10.1007/978-3-030-38077-9_176

Mer information

Skapat

2020-05-05