Torque Vectoring Traction Control for Split-μ Wheel Slip
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Solution Overview
Problem
Conventional traction control methods for vehicles struggle to effectively manage split-p situations without losing driving force, particularly when using torque vectoring motors, as they often result in degraded starting performance and instability due to slow hydraulic braking responses.
Innovation Solution
A traction control method that utilizes a torque vectoring motor to control the speed of slipping wheels by estimating wheel speed, determining slipping wheel target speeds, and adjusting motor traction control torque based on wheel speed errors, while also employing a disturbance observer to compensate for environmental disturbances.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If conventional hydraulic braking systems are used for traction control, then braking force can be applied to slipping wheels, but the response speed is slow and starting performance is degraded
Solution Approach 1:
The patent replaces the conventional hydraulic braking system with an electric torque vectoring motor system for traction control. The torque vectoring motor independently controls the torque applied to each wheel, providing rapid response without the inherent delay of hydraulic systems. This substitution of mechanical/hydraulic actuation with electric motor control resolves the contradiction between response speed and starting performance.
2Speed
If braking force is applied to control slipping wheels, then wheel speed can be controlled, but driving force is lost and acceleration performance deteriorates
Solution Approach 1:
The patent applies local quality by independently controlling the torque applied to each wheel through the torque vectoring motor. Instead of applying braking force to all wheels, the system selectively applies torque only to the slipping wheel that needs correction, while maintaining full driving force on other wheels. This localized torque control resolves the contradiction between wheel speed control and preservation of driving force.
3Speed
If torque vectoring motor is used for traction control, then response speed and driving force are improved, but system complexity increases
Solution Approach 1:
The patent implements universality by designing the torque vectoring motor system to perform multiple functions: it provides both torque vectoring for handling improvement and traction control for wheel slip prevention. By making the same hardware component serve dual purposes, the system achieves enhanced performance without proportionally increasing complexity, as the control algorithms leverage the same actuator for different control objectives.
Data Source
AI summary
A traction control method for a vehicle, in which a driving motor and a torque vectoring motor are controlled based on motor traction control torque, includes determining, by a disturbance observer based on a vehicle model, observer torque based on the slipping wheel actual speed and a torque vectoring motor torque, which are feedback information obtained from a vehicle in which the driving motor and the torque vectoring motor are controlled, and determining torque vectoring motor traction control torque based on the determined observer torque and a speed control torque determined based on a torque-vectoring-motor-based wheel speed error among motor-based wheel speed errors.