Analysis and Optimisation of a New Differential Steering Concept / / Márton Kuslits.

• VerfasserIn: Kuslits, Márton,
• Place / Publishing House: Berlin, Germany : : Logos Verlag Berlin GmbH,, 2022.
• Year of Publication: 2022
• Language: English
• Physical Description: 1 online resource (147 pages) :; illustrations

The emergence of electric drives opens up new opportunities in vehicle design. For example, powerful in-wheel motors pro -vide unprecedented flexibility in chassis design and are suitable for distributed drive solutions, although implying non-trivial vehicle dynamics control problems. This work aims...

Table of Contents

• List of Symbols and Acronyms IX
• 1 Introduction 1
• 1.1 State of the Art in Differential Steering 3
• 1.2 Motivation and Outline of the Thesis 6
• 2 Vehicle Model with Differential Steering 9
• 2.1 Model Definition and Kinematics 10
• 2.2 Nonlinear Equations of Motion 15
• 2.3 Tyre Models 18
• 2.3.1 Modelling Considerations and Tyre Model Selection 18
• 2.3.2 The Magic Formula Tyre Model 19
• 2.3.3 Bore Torque Modelling 24
• 2.3.4 Load Distribution and Load Transfer 27
• 3 Symbolic Linearisation of Equations of Motion 29
• 3.1 Symbolic Taylor Expansion 30
• 3.2 State Reduction 34
• 3.3 Representation in the Frequency Domain 35
• 3.4 Application to the Vehicle Model 36
• 3.4.1 Symbolic Manipulations on the Vehicle Model 36
• 3.4.2 Validation of the Linearised Model 42
• 4 Control of the Differential Steering System 45
• 4.1 Full State Feedback Lateral Control for High-Speed Operation 45
• 4.1.1 Closed-Loop System 46
• 4.1.2 Feedback Gain Calculation Using the LQ-Principle 47
• 4.1.3 Feedforward Gain Calculation 48
• 4.1.4 Reference Model 49
• 4.1.5 Gain Scheduling Extension 50
• 4.2 Angle Tracking Controller for Low-Speed Operation 50
• 4.2.1 PI Control Rule 51
• 4.2.2 Control Design with Root Locus Method 51
• 5 Simulations and Steering Characterisation 55
• 5.1 Simulation Framework 55
• 5.2 Simulation Studies 56
• 5.2.1 Step Steer Simulation 56
• 5.2.2 Steady-State Cornering 59
• 5.2.3 Double Lane Change 61
• 5.2.4 Low-Speed Manoeuvring 62
• 5.3 Steering Performance Characterisation 63
• 5.3.1 Dynamic Performance in the Time Domain 64
• 5.3.2 Tracking Performance in the Frequency Domain 65
• 5.3.3 Steady-State Cornering Performance 68
• 5.3.4 Low-Speed Manoeuvring Performance 69
• 6 Multi-Objective Steering Performance Optimisation 71
• 6.1 Design Parametrisation 72
• 6.2 Sensitivity Studies 73
• 6.2.1 Preselection of Control Parameter τd 73
• 6.2.2 Identification of the Most Influential Parameters 74
• 6.3 Optimisation Strategy 79
• 6.3.1 Formulation of the Optimisation Problem 79
• 6.3.2 Optimisation Assistance by Response Surfaces 80
• 6.3.3 Optimisation Procedure 82
• 6.4 Discussion of Optimisation Results 86
• 7 Disturbance Rejection of the Differential Steering System 91
• 7.1 Wheel-Curb Collision Model 92
• 7.2 Simulation Framework for Collision Investigations 96
• 7.3 Collision Simulations 98
• 8 Conclusions and Outlook 101
• Appendix: Detailed Results of Model Derivation 103
• A.1 Kinematics 103
• A.2 Equations of Motion 108
• A.3 Constraints 115
• List of Figures 117
• List of Tables 121
• References 123.