ABSTRACT
ABSTRACT: Over-actuated electric vehicle topologies enable the vehicle handling and stability envelope to be extended. Active chassis systems that control yaw-rate have been commonplace on passenger vehicles for the past two decades. Much work has been undertaken in developing the controller and torque allocation elements of yaw-rate control systems yet little progress has been made to improve the yaw-rate reference. In this paper, the challenge of determining the optimum yaw-rate reference for minimum-time manoeuvring is addressed. For a vehicle with four independent electric motors, a time-optimal yaw-rate reference generator look-up table developed from the solution of a range of manoeuvres performed in dynamic optimisation simulations is proposed. Preliminary simulation results exhibit the desired behaviour of the new strategy.
