Vehicle stability enhancement by using an active differential

The paper investigates the improvement of vehicle dynamic performance by the use of a rear, electronically controlled, limited slip differential. This control is based on the vehicle yaw rate, rear wheel slip values, and braking subsystem on the front wheels. An optimal linear quadratic regulator (LQR) controller is employed together with an elaborate six-degree-of-freedom linear vehicle model. The objective is to include the important effects of roll and steering dynamics into the controller design. For simulation purposes, the optimal controller is included in a nine-degree-of-freedom, non-linear vehicle-handling model developed for the study. Simulation results are obtained using MATLAB/Simulink for different vehicle manoeuvres. Results indicate that use of the active differential improves the handling qualities and driver perception especially at cornering situations while accelerating, at which other control methods based on braking decelerate the vehicle not in favour of the driver’s desires.

[1]  Taehyun Shim,et al.  Integrated control of wheel drive—brake torque for vehicle-handling enhancement , 2009 .

[2]  J R Ellis,et al.  Vehicle Handling Dynamics , 1994 .

[3]  Kaoru Sawase,et al.  Application of active yaw control to vehicle dynamics by utilizing driving/breaking force , 1999 .

[4]  B Mashadi,et al.  Optimal vehicle dynamics controller design using a four-degrees-of-freedom model , 2010 .

[5]  Eiichi Yaguchi,et al.  Electronically Controlled Torque Split System, for 4WD Vehicles , 1986 .

[6]  Timothy Gordon,et al.  A comparison of braking and differential control of road vehicle yaw-sideslip dynamics , 2005 .

[7]  Martin Mönnigmann,et al.  ROBUST YAW CONTROL DESIGN WITH ACTIVE DIFFERENTIAL AND ACTIVE ROLL CONTROL SYSTEMS , 2005 .

[8]  Yoshio Kano,et al.  Side-slip control to stabilize vehicle lateral motion by direct yaw moment , 2001 .

[9]  Ferruccio Resta,et al.  Development of a new control strategy for a semi-active differential for a high-performance vehicle , 2006 .

[10]  I. Emre Köse,et al.  Gain-scheduled integrated active steering and differential control for vehicle handling improvement , 2009 .

[11]  Qinghui Yuan,et al.  Dynamic modeling of torque-biasing devices for vehicle yaw control , 2006 .

[12]  Lorenzo Fagiano,et al.  Robust vehicle yaw control using an active differential and IMC techniques , 2007 .

[13]  Takahashi Naoki,et al.  Development of Super AYC. , 2003 .

[14]  Kaoru Sawase,et al.  A STUDY ON THE EFFECTS OF THE ACTIVE YAW MOMENT CONTROL , 1995 .

[15]  Hans Olsson,et al.  Realtime Simulation of Detailed Vehicle and Powertrain Dynamics , 2004 .

[16]  R. Marino,et al.  A Nonlinear Semiactive Rear Differential Control in Rear Wheel Drive Vehicles , 2006, 2007 Chinese Control Conference.

[17]  Hans B. Pacejka,et al.  Tire and Vehicle Dynamics , 1982 .

[18]  Martin Levesley,et al.  Coordination of active steering, driveline, and braking for integrated vehicle dynamics control , 2006 .