Abstract
Torque Vectoring (TV) has the objective to substitute the need of a mechanical differential, while improving the handling and response of the wheeled vehicle. This work addresses the design of a torque vectoring system in an rear wheel driven formula student prototype. The proposed solution resorts to a PID controller for yaw rate tracking with an evenly distributed torque to each wheel. Also an LQR scheme is discussed, for tracking the yaw rate and the lateral velocity. To assess and design, first a 7 degree of freedom (DOF) non linear model is constructed, followed by a linear 2 DOF model, both validated with real data. The linear model, is used to design and simulate the proposed controllers. When the controller is within the desired parameters it is tested in the non linear model. Tests with the vehicle are performed to verify the contribution of the controller to the overall performance of the vehicle.
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Acknowledgments
This work was supported by FCT, through IDMEC, under LAETA, project UID/EMS/50022/2013. The authors thank the prompt and fruitful cooperation of the IST Formula Student team, FST Lisboa and ISR - Dynamical Systems and Ocean Robotics Lab, namely the assistance of Bruno Cardeira.
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Antunes, J., Cardeira, C., Oliveira, P. (2018). Torque Vectoring for a Formula Student Prototype. In: Ollero, A., Sanfeliu, A., Montano, L., Lau, N., Cardeira, C. (eds) ROBOT 2017: Third Iberian Robotics Conference. ROBOT 2017. Advances in Intelligent Systems and Computing, vol 694. Springer, Cham. https://doi.org/10.1007/978-3-319-70836-2_35
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DOI: https://doi.org/10.1007/978-3-319-70836-2_35
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