Yaw Dynamics Control of Three Wheeled Hybrid Vehicle by Torque Vectoring

Abstract

In this thesis, the lateral dynamics of the three-wheeled hybrid vehicle were evaluated. Mechanical components and moving parts such as the vehicle chassis, suspensions, steering system, and tires are modeled on Adams/Car software. On the other hand, powertrain components such as ICE, electric motors, generators, transmissions, batteries, and controllers such as Energy Management System, Speed Controller and Direct Yaw Controller are modeled in MATLAB/Simulink software. The energy management system is designed according to the maximum SoC strategy and the direct yaw controller with torque vectoring and active braking is designed according to the LQR control strategy. Then, detailed system analyses were performed with the co-simulation technique. The effects of speed, acceleration, battery level, friction coefficient and torque transfer resulting from mode change on lateral dynamics have been investigated and the performance of the yaw controller has been observed against these effects.