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Title: Model predictive torque vectoring control with active trail-braking for electric vehicles
Author: Zarkadis, Kinstantinos
ISNI:       0000 0004 7968 8783
Awarding Body: Cranfield University
Current Institution: Cranfield University
Date of Award: 2018
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In this work we present the development of a torque vectoring controller for electric vehicles. The proposed controller distributes drive/brake torque between the four wheels to achieve the desired handling response and, in addition, intervenes in the longitudinal dynamics in cases where the turning radius demand is infeasible at the speed at which the vehicle is traveling. The proposed controller is designed in both the Linear and Nonlinear Model Predictive Control framework, which have shown great promise for real time implementation the last decades. Hence, we compare both controllers and observe their ability to behave under critical nonlinearities of the vehicle dynamics in limit handling conditions and constraints from the actuators and tyre-road interaction. We implement the controllers in a realistic, high fidelity simulation environment to demonstrate their performance using CarMaker and Simulink.
Supervisor: Velenis, Efstathios ; Longo, Stefano Sponsor: Not available
Qualification Name: Thesis (Ph.D.) Qualification Level: Doctoral
EThOS ID:  DOI: Not available
Keywords: torque vectoring ; MPC ; nonlinear predictive control ; FEV