Preprint Article Version 1 Preserved in Portico This version is not peer-reviewed

Comparison of Typical Controllers for Direct Yaw Moment Control Applied on an Electric Race Car

Version 1 : Received: 4 February 2021 / Approved: 5 February 2021 / Online: 5 February 2021 (10:34:02 CET)

A peer-reviewed article of this Preprint also exists.

Medina, A.; Bistue, G.; Rubio, A. Comparison of Typical Controllers for Direct Yaw Moment Control Applied on an Electric Race Car. Vehicles 2021, 3, 127-144. Medina, A.; Bistue, G.; Rubio, A. Comparison of Typical Controllers for Direct Yaw Moment Control Applied on an Electric Race Car. Vehicles 2021, 3, 127-144.

Journal reference: Vehicles 2021, 3, 8
DOI: 10.3390/vehicles3010008

Abstract

Direct yaw moment control (DYC) is an effective way to alter the behaviour of electric cars with independent drives. Controlling the torque applied to each wheel can improve the handling performance of a vehicle making it safer andfaster on a race track. The state-of-the-art literature covers the comparison of various controllers (PID, LPV, LQR, SMC, etc.) using ISO manoeuvres. However, more advanced comparison on important characteristics of the controllers performance is missed, such as the robustness of the controllers under changes in the vehicle model, steering behaviour, use of the friction circle and, ultimately, lap time on a track. In this study, we have compared the controllers according to some of the aforementioned parameters on a modelled race car. Interestingly, best lap times are not provided by perfect neutral or close-to-neutral behaviour of the vehicle, but rather by allowing certain deviations from the target yaw rate. In addition, a modified PID controller showed that its performance is comparable to other more complex control techniques such as MPC.

Subject Areas

Direct Yaw Moment Control; Electric Race Car; FSAE; Limit Handling; Yaw Rate Control; Lap Time Simulation

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