A standard production car could employ a simplified version of their control approach with fewer sensors and feedback loops but with the addition of a steering algorithm. Experiments with a fourwheeldrive electric vehicle show that considerable energy savings can be achieved by considering drivetrain and tire power losses through energy efficient torque vectoring control. Review and simulation of torque vectoring yaw rate control. Research of model matching control of torque vectoring. As mentioned rimac has demonstrated that all wheel torque vectoring can deliver unprecedented precision in control of individual wheels. Its designed to improve handling, stability, and performance and its a feature that is becoming more and. Design and analysis of a new torque vectoring system with a. Traction control is a control system, which extends the abs system.
The new dynamic torque vectoring awd system is used in gasoline engine vehicles. Originally developed for sports vehicles to avoid the need for a limited slip differential and other costly components, it is. Some of the popular torque vectoring systems are hondaacuras unique super handlingall wheel drive on several of their their models, bmws dynamic performance control on the x6, audis quattro with sports differential and nissans torque vectoring on the juke. Torque vectoring for electric vehicles with individually controlled. Results show that the proposed intelligent torque vectoring system is able to increase the efficiency of the vehicle by 10%, thanks to the optimal torque distribution and the use of a neurofuzzy vertical tire forces estimator which provides 3 times more accurate estimations than analytical approaches. Can allwheel torque vectoring replace mechanical steering. The basis of all ricardo concepts is the use of a actuator with a low torque. Vehicle torque vectoring control ece 1635 april 6, 2015 christopher au moeed siddiqui yujie guo. An investigation on the robustness of a torque vectoring control based on an inverse disturbance observer architecture for a rear wheel driven vehicle. In particular, the adoption of individually controlled electric powertrains with the aim of tuning the vehicle dynamic characteristics in steadystate and transient conditions is discussed. Index termsactiveset methods, constrained optimization, differential braking, integrated control, optimal torque vectoring control. Simulation study investigating the novel use of drive torque vectoring for dynamic postimpact vehicle control peter samuel delves a thesis submitted in partial fulfilment of the requirements of the manchester metropolitan university for the degree doctor of philosophy school of engineering manchester metropolitan university 2015. A special transmission unit is used in the experimental car mute of the technical university of munich, where the bigger motor is providing the driving power and the smaller for the torque vectoring functionality.
Fords torque vectoring control, introduced to north american buyers on the 2012 focus, is an electronic solution to wheel slippage. A torque vectoring differential acts very similarly to an open differential, except the axle shafts have planetary gearsets and clutch packs which allow them to lock up with the differential. The torquevectoring algorithm distributes the yaw moment among the four wheels. Nov 20, 2015 so what are the disadvantages of a torque vectoring active differential. In this thesis, a torque vectoring control strategy is proposed for the.
Pdf development of an advanced torque vectoring control. The hypersmart, fuelefficient future of allwheel drive oct 1, 2009 everyone knows there are control and capability benefits of allwheel drive when youre dealing with the. Tire forces are at the heart of the dynamic qualities of vehicles. In this paper, modelbased development of a control of torque vectoring differential tvd gear system is described. Pdf development of torque vectoring differential control. Development of an advanced torque vectoring control. A limitedslip differential, or lsd, allows the driven wheels of a car to spin at different speeds. The evaluation of the vehicle dynamic simulation has shown that the best results regarding the control quality can be reached by using the fuzzy control algorithm to optimize the driving stability in extreme driving situations. Suspension characteristics could be tuned to benefit ride and fuel economy, while torque vectoring generates the desired response. Gkn automotives etwinster dualclutch transmission and the companys software and control modules make torque vectoring easy to integrate into the driving experience. Intelligent torque vectoring approach for electric vehicles with per.
Development of an advanced torque vectoring control system for an electric vehicle with inwheel motors using soft computing techniques. Torque vectoring control reacts to the road surface 100 times per second. The ability to tune yaw behavior via torque vectoring can potentially eliminate compromise between response and stability. The approach is general in nature, but is particularly well suited for electric vehicles due to increased control bandwidth. The front end hugs every corner for improved traction and handling when accelerating through corners. Torque vectoring is a method used to enhance the on road handling and performance during cornering by altering the distribution of torque between the left and right rear wheels. An optimizationbased control allocation method is used to determine the actuator command in order to apply the desired traction force, the yaw moment input and the wheel slip control inputs to the test platform. Torque vectoring for electric vehicles with individually. Active torque vectoring systems for electric drive vehicles cvut. New dynamic torque vectoring awd and efour 4wd systems. Intelligent torque vectoring approach for electric vehicles. Feb 01, 2015 a torque vectoring differential acts very similarly to an open differential, except the axle shafts have planetary gearsets and clutch packs which allow them to lock up with the differential.
This paper deals with the description of current and future vehicle technology related to yaw moment control, antilock braking and traction control. The detailed control system of the torque vectoring is described in the doctoral thesis of dr. An optimal torque vectoring control for vehicle applications via realtime constraints dhanaraja kasinathan, alireza kasaiezadeh,andy wong, amir khajepour, shihken chen, and bakhtiar litkouhi abstracta generalized integrated control strategy for vehicle dynamics using an optimal torque vectoring control approach is extended in this paper. Simulation study investigating the novel use of drive torque. How does toyota rav4 dynamic torque vectoring awd work. In the present paper, a realtime integrated torque vectoring control function is designed and implemented in an awd axlesplit hybrid vehicle.
Torque vectoring control driverassist technology autolamp automatic onoff headlamps seating front bucket seats 6040 splitfold rear bench seat with recline interior 12v powerpoints 4 cargo tiedown hooks 4 display message center with trip computer displays compass and outside temperature front 2 and rear 2 grab handles. Torque vectoring control howto video official ford. Torque vectoring is a vehiclecontrol system used for cornering and lateral movements, and also results in easier handling for the driver. An integrated vehicle control framework is presented, which uses torque vectoring across independently driven wheels for control. Torque vectoring is a system that allows cars to control how certain wheels get power. For an electric single wheel drive, a con tinuous control intervention is feasible 7, 8 as the electric motors are continuously controlled anyways. Jul 14, 2016 unlike other torque vectoring systems, the g vectoring control works through the engine by limiting torque developed at certain points, especially during specific steering inputs, which are pre. This system controls the braking fluid pressure during the full break request. In particular, the adoption of individually controlled electric powertrains with the aim of tuning the vehicle dynamic characteristics in steady. A torque vectoring device for a vehicle is provided, comprising an electrical motor 110 being connected to a differential mechanism 20 via a transmission 120, wherein the torque vectoring device further comprises at least one control means, 150 for changing the torque path of the transmission 120 between a first mode, in which the transmission connects the electrical. That, well cover active torquevectoring systems specifically brakebased systems vs.
Gkn automotive systems and solutions electric drive. By transferring power towards the wheel that has more traction in a given situation, overall control and handling are improved. The function utilises the braking system to replicate the effect of. Torquevectoring control for fully electric vehicles. Torque vectoring is the term introduced by the ricardo. Pdf electric torque vectoring for electric vehicles. Torque vectoring control select a different vehicle to begin a new search this video will help explain what torque vectoring control is and how it works if you encounter adverse road conditions. Control allocation based optimal torque vectoring for 4wd. To provide excellent turning performance, lexus engineers developed and adopted torque vectoring differential tvd technology for a frontengine rearwheeldrive fr vehicle for the first time in the world first tvd for toyota motor corporation that performs electronic control to actively transfer torque to right and left rear wheels.
Pdf energy efficient torque vectoring control basilio. Control when you need it torque vectoring control increases traction in the direction you want to travel and improves the steering ability of the inside tire. Torque vectoring control howto video official ford owner. Torque vectoring control a new technology developed through motorsport advancements is an advanced computer system included in many highperformance vehicles. Mazda launches its first model with torque vectoring for.
Dec 07, 2010 ford torque vectoring control ford europe. Vehicle torque vectoring control university of waterloo. This is especially important for sports cars and offroad vehicles. Active torque vectoring for all wheel drive fsae electric car by vikas tukaram pawar. This maximises grip and sharpens handling, helping you round corners and over undulations in. This was achieved based on the principal of distributing total driver requested torque between wheels, equivalent to the. Torque vectoring is a vehicle control system used for cornering and lateral movements, and also results in easier handling for the driver. By adopting a torque vectoring mechanism, which independently distributes torque to the left and right rear wheels according to driving conditions, the dynamic torque vectoring awd system enables the driver to steer the vehicle exactly as intended. In fourwheel drive vehicles in particular, it is no longer simply a matter of distributing torque to the individual axles but also to the individual wheels. This allows each wheel to receive independent torque amounts.
A safe torque vectoring function for an electric vehicle. This video will help explain what torque vectoring control is and how it works if you encounter adverse road conditions. This article presents a comparison between different torquevectoring control structures for the yaw moment control of. Numerical simulation studies have been conducted to evaluate the proposed optimal torque vectoring algorithm. Feb 26, 2018 the new dynamic torque vectoring awd system is used in gasoline engine vehicles. With the advent of electric vehicles the precise and accurate control of the traction and braking forces at the individual wheel becomes a possibility and a reality outside test labs. The technology improves both on and offroad performance, by enhancing traction, cornering and efficiency in realworld driving conditions.
Torque vectoring control vs limited slip differential. The torque vectoring algorithm distributes the yaw moment among the four wheels. Audi produced a torque vectoring system capable of varying the torque received by any wheel of the vehicle. Ford tech features torque vectoring control ford philippines. Torque vectoring technology is generally defined as a vehicles ability to vary the power to each wheel. Integrated torque vectoring and power management framework. There are several all wheel drive systems that can regulate the torque that is sent to the wheels but these systems do this to maintain traction on various road surfaces. Ford focus rs torque vectoring control how it works.
An optimal torque vectoring control for vehicle applications. Torque vectoring usually refers to the ability to actively control how an engines power is distributed between a vehicles wheels typically between two wheels on the same axle, in order to help improve vehicle. Torquevectoring stability control of a four wheel drive. Unlike other torque vectoring systems, the gvectoring control works through the engine by limiting torque developed at certain points, especially during specific steering inputs, which are pre.
Torque vectoring tv is a widely used technique to achieve stability control for independent wheel drive electric vehicle due to its velocity maintaining. Developers are increasingly focusing on torque management to improve longitudinal and lateral dynamics and to enhance the vehicles characteristics. Active torque vectoring for all wheel drive fsae electric car by vikas tukaram pawar presented to the faculty of the graduate school of the university of texas at. The design goals for a torque vectoring controller are good response behavior, high accuracy, and linear behavior of the car during high loads. A safe torque vectoring function is applied to an electric vehicle with a two front motors drivetrain concept. Well, some systems do not work offthrottle and this is where that brakebased torque vectoring comes in handy. Company 2 to describe a means of varying the distribution of engine torque between two. The function has been embedded in a lean and scalable functional architecture adaptable to various drivetrain concepts. The bmw torque vectoring system is called dynamic performance control. Development of torque vectoring differential control ecu. An optimal torque vectoring control for vehicle applications via. Drivers are most likely to notice lincolns new torque vectoring control tvc system when lincoln drive control is set to sport mode.