Motor Torque Vectoring Mapping for Yaw Control and Vibration Suppression
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Solution Overview
Problem
Conventional torque vectoring systems, such as mechanical or clutch-based systems, lack independent control over left and right torques, limiting desired vehicle behavior, and require individual performance tuning for each hardware platform, which is inefficient and cannot effectively suppress vibrations in electric vehicles during critical driving situations.
Innovation Solution
A motor-based torque vectoring control system using processors and a storage medium to obtain a target yaw moment, distribute it to wheel-based target torques, and convert these into motor-based motor torques using a mapping relationship between motor and wheel torques, allowing universal application across various hardware platforms and reducing vibrations by limiting integral control values during rapid steering changes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If conventional mechanical or clutch-based torque vectoring systems are used, then torque distribution is achieved, but independent control over left and right torques is limited
Solution Approach 1:
The patent replaces mechanical torque vectoring systems (mLSD, eLSD, twin clutch) with a motor-based system that uses independent motors at each wheel to achieve torque vectoring. This substitution enables precise independent control of left and right wheel torques through electronic control, eliminating the mechanical complexity and control limitations of conventional systems.
Solution Approach 2:
The patent implements a mapping relationship between motor torque and wheel torque parameters that adapts to different hardware platforms. By changing the control parameters and mapping relationships rather than the fundamental system architecture, the patent achieves platform-independent torque vectoring control while maintaining independent left-right torque control capability.
2Reliability
If simple PID control is used for motor-based torque vectoring, then control is implemented, but desired performance cannot be achieved in actual vehicles
Solution Approach 1:
The patent implements a feedback control mechanism that continuously monitors actual vehicle behavior (yaw rate, lateral acceleration) and adjusts motor torque accordingly. The control system compares target values with actual values and modifies torque vectoring commands to achieve desired vehicle dynamics, improving reliability over open-loop PID control.
Solution Approach 2:
The patent employs dynamic control strategies that adapt to changing driving conditions, vehicle states, and hardware platforms. The mapping relationship between motor torque and wheel torque is dynamically adjusted based on operating conditions, enabling the system to achieve desired performance across various scenarios rather than relying on fixed PID parameters.
3Adaptability or versatility
If individual performance tuning is performed for each hardware platform, then platform-specific optimization is achieved, but development time and complexity increase
Solution Approach 1:
The patent creates a universal torque vectoring control system that can be applied to multiple hardware platforms without individual tuning. The mapping relationship between motor torque and wheel torque is designed to be platform-agnostic, allowing the same control algorithm to work across different vehicle configurations, motor types, and mechanical setups, thereby eliminating repetitive tuning work.
Solution Approach 2:
The patent achieves platform adaptability through parameterized mapping relationships that can be configured based on hardware specifications without requiring complete retuning of the control algorithm. The system accepts platform-specific parameters (motor characteristics, gear ratios, wheelbase) and automatically adapts the control strategy, reducing development time while maintaining optimization.
4Ease of operation
If motor-based torque vectoring is used, then independent torque control is achieved, but vibrations occur during critical driving situations
Solution Approach 1:
The patent applies preliminary anti-action by predicting and counteracting vibrations before they occur during critical driving situations. The control system monitors driving conditions (high lateral acceleration, oversteer onset, drift) and pre-adjusts torque vectoring commands to prevent vibrations caused by rapid steering changes or extreme maneuvers, thereby maintaining control freedom while eliminating harmful vibrations.
Solution Approach 2:
The patent implements beforehand cushioning by introducing damping and smoothing mechanisms in the torque control algorithm that anticipate and cushion against vibrations during critical driving situations. The system prepares compensatory torque adjustments in advance of predicted vibration events, reducing the impact of rapid steering changes and extreme maneuvers on vehicle stability and driver comfort.
Data Source
AI summary
An apparatus for controlling motor-based torque vectoring includes one or more processors, and a storage medium storing instructions configured to cause the one or more processors to obtain a target yaw moment following a target yaw rate, distribute the target yaw moment to a wheel-based target wheel torque, and convert the wheel-based target wheel torque into a motor-based motor torque. The instructions are configured to cause the one or more processors to convert the wheel-based target wheel torque into a motor-based motor torque using a mapping relationship between a motor torque and a wheel torque.