19th INTERNATIONAL ISTANBUL CONGRESS ON LIFE, ENGINEERING, ARCHITECTURE, AND MATHEMATICAL SCIENCES
TORQUE VECTORING CONTROL WITH FUZZY PID DURING CORNERING MANEUVERS FOR ELECTRICAL VEHICLES
Yayıncı:
BZT Turan Publishing House
Vehicle dynamics control systems play an important role in accident prevention by decreasing the discrepancy between the desired and actual vehicle response. Among these systems, Torque Vectoring Control (TVC) has been developed to enhance the steering and handling performance of vehicles.This study proposes a customized optimal fuzzy PID control approach for TVC design, adapting key components through compression and expansion techniques tailored to the system model. In this context, a non-linear multi-body dynamics model is employed to represent the real electric vehicle. This vehicle model incorporates three independently controllable electric motors: one on the front axle for traction and the other two on the rear axle. With the two motors on the rear axle, the yaw moment is controlled through the torque difference between them. The steering and handling capabilities of the system are evaluated through various maneuvers in closed-loop test cases within a simulation environment. Various types of controllers can be used to assess the vehicle’s steering and handling performance. This study first examines the effects of a fuzzy PID controller on system performance, given its effectiveness in managing nonlinear systems. The necessary components for designing optimal fuzzy PID controllers, i.e. the membership functions and rule table, are taken from literature. Then, the fuzzy PID controller for the specific maneuver is designed based on the minimization of the Integral Square Error (ISE) performance index. Additional maneuvers are designed to evaluate the robustness of the controller. Second, to improve results compared to the traditional PID controller, output membership functions are tailored to the system model through compression and expansion techniques. Although each optimal fuzzy PID controller designed using these two techniques is able to handle the maneuvers, it is observed that expanding the output membership function further improved system performance.
