Comparative Analysis of Torque Vectoring Control Strategies for Stability of Electric Three-Wheeler having Two Rear Motors
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Abstract
This study develops and evaluates two torque vectoring control algorithms for Vehicle Stability Control (VSC) in Electric three-wheelers (ETWs) with rear hub motors to improve control and safety. The control strategies operate using two hierarchical modules. The first module acts as a supervisory controller, generating corrective torque commands using yaw rate and longitudinal speed feedback. These commands guide the second module, which employs a traction control algorithm for two rear Brushless DC (BLDC) hub motors. The two proposed control strategies are Adaptive Sensor Less Yaw Rate Estimation-based Controller (ASYRC) and Fuzzy-PID controller. Both strategies control longitudinal and yaw rate motions, generating corrective yaw moments though torque vectoring by comparing the reference yaw rate with the vehicle's yaw rate in two in-wheel motors. Further, suitable schemes are considered which evaluate the vehicle stability performance of these controllers. For developing and validating the control strategies, a three-degree-of-freedom bicycle model has been developed incorporating real ETWs parameters for use as a realistic plant model for simulation. Results from comparative analysis of the two proposed control approaches, focusing on vehicle stability performance under varied driving conditions highlight the ETW's manoeuvrability and safety.
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