Merkezi Diferansiyelin Çoklu Model Geçişiyle Aktif Kontrolü

Abstract

In this thesis, the active differential working based on the principle of the torque transfer is dealt to build up an alternative to the other standardized active control systems working based on the principle of the braking in the today's vehicles such as ESP, ABS, VDC. The braking brings about decline in the longitudinal performance of the vehicle and deterioration in the driving continuity. In fact, by transferring the suitable amount of the torque to axles, it is possible to provide stable driving and good handling without any reduction of the speed and any loss of the longitudinal performance of the vehicle. Accordingly, an algorithm is created to control the central differential actively.In this study, the dynamic vehicle model is derived with nonlinear β-bicycle model. In this model, the forces generated by the tires are expressed with Pacejka's Magic Formula. Pacejka Tire Model makes high performance for the nonlinear sides of the longitudinal slip versus force and thelateral slip angle versus force profiles. Due to the fact that these nonlinear sides are dwelled on, in the study, Pacejka Tire Model is preferred. Additionally, considering the friction circle concept, the torque transfer algorithm must include both the lateral force and the iv longitudinal force. Thus, Pacejka Tire Model is used in the form of the combined slip model.