ABSTRACT
This paper presents a control concept for an electromechanical Torque Vectoring system, installed at the driven rear axle of a vehicle. Asymmetric torque distribution enables active manipulation of the vehicles yaw dynamics. Appropriate controller design implements the desired agility without compromising the stability goals, which is of special interest for high performance vehicles. The controller structure consists of an inversion based feedforward. To this end, well known key variables, which define controllability and stability of the vehicle, are derived from a linear single track model. The calibration parameters are modified to deal with the reduced stability potential at high lateral acceleration domain during critical maneuvers. The verification of the proposed method is carried out using a high dimensional nonlinear simulation environment.
