Archivio Istituzionale della RicercaThis paper presents a traction controller for combined driving and cornering conditions, based on explicit nonlinear model predictive control. The prediction model includes a nonlinear tire force model using a simplified version of the Pacejka Magic Formula, incorporating the effect of combined longitudinal and lateral slips. Simulations of a front-wheel-drive electric vehicle with multiple motors highlight the benefits of the proposed formulation with respect to a controller with a tire model for pure longitudinal slip. Objective performance indicators provide a performance assessment in traction control scenarios.
Real-Time Capable Nonlinear Model Predictive Wheel Slip Control for Combined Driving and Cornering / Metzler, Mathias; Scamarcio, Alessandro; Gruber, Patrick; Sorniotti, Aldo. - (2020), pp. 1466-1473. (Intervento presentato al convegno IAVSD 2019) [10.1007/978-3-030-38077-9_168].
Real-Time Capable Nonlinear Model Predictive Wheel Slip Control for Combined Driving and Cornering
Sorniotti, Aldo
2020
Abstract
This paper presents a traction controller for combined driving and cornering conditions, based on explicit nonlinear model predictive control. The prediction model includes a nonlinear tire force model using a simplified version of the Pacejka Magic Formula, incorporating the effect of combined longitudinal and lateral slips. Simulations of a front-wheel-drive electric vehicle with multiple motors highlight the benefits of the proposed formulation with respect to a controller with a tire model for pure longitudinal slip. Objective performance indicators provide a performance assessment in traction control scenarios.
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https://hdl.handle.net/11583/2990857
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