Development of simulation model and control strategy for torque vectoring

Sammanfattning

Simulation models play a crucial role in the comprehensive study of advanced control systems and strategies. These models not only facilitate the assessment of complex systems but also contribute to the sustainability of the development process. This thesis has been done in collaboration with Koenigsegg Automotive AB and aims to develop a detailed vehicle model designed to assess the complex dynamics associated with clutch-based torque vectoring. The model serves to investigate the actuation and control of clutches and to explore the effects of torque vectoring on vehicle performance and stability. Additionally, novel control strategies for clutch actuation in torque vectoring applications have been developed and implemented. The designed system is evaluated by simulating in various scenarios such as, steady-state, transient and real-world scenarios to evaluate the system based on the key performance indicators like yaw rate, side slip, yaw moment, lateral acceleration, torque distribution and vehicle trajectory. Furthermore, the system analysis encompasses phase-plane analysis, with yaw rate and side slip serving as the state variables. The results demonstrate the advantages of clutch-based torque vectoring, particularly in enhancing lateral acceleration and maintaining vehicle control at high speeds when compared to conventional system. The system significantly improves vehicle stability and performance, especially during high-speed cornering, by efficiently managing the torque distribution to the wheels. Phase-plane analysis underscores the importance of torque vectoring in stabilizing the vehicle, highlighting the stability of the system for performance cars, offering improved lateral grip, faster corner exits and enhanced overall control.