Research on Yaw Moment Control System for Race Cars Using Drive and Brake Torques
<p>Relation between lateral forces and yaw moments in the cornering process of a race car.</p> "> Figure 2
<p>Illustration of the proposed yaw moment control system.</p> "> Figure 3
<p>Image of the proposed yaw moment control system.</p> "> Figure 4
<p>Yaw-moment generation mechanism.</p> "> Figure 5
<p>Schematic block diagram of the proposed algorithm.</p> "> Figure 6
<p>Illustration of basic vehicle dynamics equations of motion.</p> "> Figure 7
<p>The 2D lookup table applied to the proposed control system.</p> "> Figure 8
<p>Illustration showing the relation between the drive torque and the longitudinal force around the wheel.</p> "> Figure 9
<p>Schematic of the planar and rotational dynamics model.</p> "> Figure 10
<p>Scheme of the two-track slip angle model.</p> "> Figure 11
<p>Modeled combined slip weighting surface: (<b>a</b>) lateral combined slip; (<b>b</b>) longitudinal combined slip.</p> "> Figure 12
<p>Flowchart of Milliken moment diagram calculations.</p> "> Figure 13
<p>MMD example at 15 m/s and 0 m/s<sup>2</sup>.</p> "> Figure 14
<p>Explanation of MMD focus points and analysis methods.</p> "> Figure 15
<p>Comparison of the proposed system and inactive control vehicle by MMD.</p> "> Figure 16
<p>Comparison of the proposed system and inactive control vehicle focused on MMD evaluation points.</p> "> Figure 17
<p>Schematic of a variable turning radius track.</p> "> Figure 18
<p>Vehicle turning performance envelope.</p> "> Figure 19
<p>The 3D MMD diagrams calculated for each velocity.</p> "> Figure 20
<p>Comparison of vehicles with and without the proposed system in terms of velocity vs. distance.</p> "> Figure 21
<p>Comparison of vehicles with and without the proposed system in terms of lateral acceleration vs. distance.</p> "> Figure 22
<p>Comparison of vehicles with and without the proposed system in terms of yaw angular acceleration vs. distance.</p> "> Figure 23
<p>Comparison of vehicles with and without the proposed system in terms of lateral acceleration vs. yaw angular acceleration.</p> ">
Abstract
:1. Introduction
2. Proposed Yaw Moment Control System
2.1. Outline of the Proposed System
2.2. Control Algorithm
3. Calculation Method using Milliken Moment Diagram
3.1. Vehicle Dynamics Model
3.2. Tire Model
3.3. Milliken Moment Diagram Calculation Method
4. Performance Prediction of Proposed Yaw Moment Control Systems
4.1. Analysis Conditions
4.2. Comparison by Milliken Moment Diagram
4.3. Comparison by Variable Turning Radius Simulation
5. Conclusions
Author Contributions
Funding
Institutional Review Board Statement
Informed Consent Statement
Data Availability Statement
Conflicts of Interest
References
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Vehicle Parameters | Value/Name |
---|---|
Total mass [kg] | 268 |
CoG height [mm] | 270 |
Weight distribution [%Fr] | 45 |
Yaw inertia [kgm2] | 150 |
Wheelbase [mm] | 1530 |
Front track [mm] | 1250 |
Rear track [mm] | 1250 |
TLLTD [%Fr] | 60 |
Lift coefficient [-] | −5 |
Drag coefficient [-] | 1 |
Frontal area [m2] | 1 |
Downforce distribution [%Fr] | 45 |
Brake balance [%Fr] | 56 |
Steer gear ratio [/] | 5 |
Tyre@83 kPa, = 0° | Hoosier 16 7.5–10 R20 |
Inactive | Proposed System | |
---|---|---|
Max lateral acc. [m/s2] @Limit | 18.44 | 18.43 |
Yaw moment [Nm] @Limit | −137.2 | −62.15 |
Max lateral acc. [m/s2] @Steady-state | 14.50 | 15.08 |
Δ Yaw moment [Nm/deg] @Corner entry | −37.54 | −32.70 |
Inactive | Proposed System | |
---|---|---|
Time [s] | 5.140 | 5.085 |
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Kobayashi, I.; Kuroda, J.; Uchino, D.; Ogawa, K.; Ikeda, K.; Kato, T.; Endo, A.; Peeie, M.H.B.; Narita, T.; Kato, H. Research on Yaw Moment Control System for Race Cars Using Drive and Brake Torques. Vehicles 2023, 5, 515-534. https://doi.org/10.3390/vehicles5020029
Kobayashi I, Kuroda J, Uchino D, Ogawa K, Ikeda K, Kato T, Endo A, Peeie MHB, Narita T, Kato H. Research on Yaw Moment Control System for Race Cars Using Drive and Brake Torques. Vehicles. 2023; 5(2):515-534. https://doi.org/10.3390/vehicles5020029
Chicago/Turabian StyleKobayashi, Ikkei, Jumpei Kuroda, Daigo Uchino, Kazuki Ogawa, Keigo Ikeda, Taro Kato, Ayato Endo, Mohamad Heerwan Bin Peeie, Takayoshi Narita, and Hideaki Kato. 2023. "Research on Yaw Moment Control System for Race Cars Using Drive and Brake Torques" Vehicles 5, no. 2: 515-534. https://doi.org/10.3390/vehicles5020029