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Integrated brake based torque vectoring control of vehicle yaw rate and side-slip angle
Dissertation (MEng)--University of Pretoria, 2018.
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| Format: | Thesis |
| Language: | English |
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University of Pretoria
2019
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| _version_ | 1867613614586724353 |
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| access_status_str | Open Access |
| author2 | Botha, T.R. |
| author_browse | Botha, T.R. |
| author_facet | Botha, T.R. |
| collection | Thesis |
| dc_rights_str_mv | © 2019 University of Pretoria. All rights reserved. The copyright in this work vests in the University of Pretoria. No part of this work may be reproduced or transmitted in any form or by any means, without the prior written permission of the University of Pretoria. |
| description | Dissertation (MEng)--University of Pretoria, 2018. |
| format | Thesis |
| id | oai:repository.up.ac.za:2263/71751 |
| institution | University of Pretoria (South Africa) |
| language | English |
| last_indexed | 2026-06-10T12:38:57.201Z |
| license_str | Other — see source repository |
| provenance_str_mv | Harvested via OAI-PMH from UPSpace — University of Pretoria Institutional Repository |
| publishDate | 2019 |
| publishDateRange | 2019 |
| publishDateSort | 2019 |
| publisher | University of Pretoria |
| publisherStr | University of Pretoria |
| record_format | dspace |
| source_str | UPSpace — University of Pretoria Institutional Repository |
| spelling | oai:repository.up.ac.za:2263/71751 Integrated brake based torque vectoring control of vehicle yaw rate and side-slip angle Botha, T.R. u10498240@tuks.co.za Els, P.S. (Pieter Schalk) Poovendran, Karthik UCTD Torque Vectoring Yaw Rate Control Side-Slip Angle Brake-based torque Engineering, built environment and information technology theses SDG-09 SDG-09: Industry, innovation and infrastructure Engineering, built environment and information technology theses SDG-11 SDG-11: Sustainable cities and communities Engineering, built environment and information technology theses SDG-12 SDG-12: Responsible consumption and production Dissertation (MEng)--University of Pretoria, 2018. Sport Utility Vehicle (SUV) sales are increasing globally, even surpassing sedan vehicle sales worldwide. Their increasing popularity is termed a continuous trend that is expected to last. SUVs are known to offer a higher ground clearance which makes them more susceptible to rollover and directional instability during emergency manoeuvres. This dissertation proposes an integrated controller which controls two vehicle states, namely yaw-rate and side-slip angle to improve handling while reducing rollover propensity and improving rollover stability. The control system employs brake based torque vectoring to control the vehicle states, torque vectoring control improves lateral stability by maintaining consistent handling characteristics over all driving conditions and the lateral stability is maintained whilst adhering to a rollover index. The desired vehicle states are obtained from a reference linear two degree of freedom model with tyre characteristics obtained from the linear region of the tyre. A coordinated control strategy is investigated with respect to Direct Yaw Moment Control (DYC) acting on a vehicle through individual brake torques. Two types of controllers are investigated, namely a Linear Quadratic Regulator (LQR) and a Linear Model Predictive Controller (LMPC). It is shown that yaw rate control together with side-slip angle control and the inclusion of a roll index limit allows for better vehicle handling. Simulation tests are done using Simulink/ADAMS and verified experimentally with a SUV undergoing evasive manoeuvres where the vehicle is near its performance limit. The vehicle managed to be successfully navigated through manoeuvres not possible prior to yaw rate and side-slip angle control, with a notable decrease in the vehicle roll. TM2019 mi2025 Mechanical and Aeronautical Engineering MEng Unrestricted SDG-09: Industry, innovation and infrastructure SDG-11: Sustainable cities and communities SDG-12: Responsible consumption and production 2019-10-09T14:23:07Z 2019-10-09T14:23:07Z 2019/09/02 2018 Dissertation Poovendran, K 2018, Integrated brake based torque vectoring control of vehicle yaw rate and side-slip angle, MEng Dissertation, University of Pretoria, Pretoria, viewed yymmdd <http://hdl.handle.net/2263/71751> S2019 http://hdl.handle.net/2263/71751 en © 2019 University of Pretoria. All rights reserved. The copyright in this work vests in the University of Pretoria. No part of this work may be reproduced or transmitted in any form or by any means, without the prior written permission of the University of Pretoria. application/pdf University of Pretoria |
| spellingShingle | UCTD Torque Vectoring Yaw Rate Control Side-Slip Angle Brake-based torque Engineering, built environment and information technology theses SDG-09 SDG-09: Industry, innovation and infrastructure Engineering, built environment and information technology theses SDG-11 SDG-11: Sustainable cities and communities Engineering, built environment and information technology theses SDG-12 SDG-12: Responsible consumption and production Integrated brake based torque vectoring control of vehicle yaw rate and side-slip angle |
| title | Integrated brake based torque vectoring control of vehicle yaw rate and side-slip angle |
| title_full | Integrated brake based torque vectoring control of vehicle yaw rate and side-slip angle |
| title_fullStr | Integrated brake based torque vectoring control of vehicle yaw rate and side-slip angle |
| title_full_unstemmed | Integrated brake based torque vectoring control of vehicle yaw rate and side-slip angle |
| title_short | Integrated brake based torque vectoring control of vehicle yaw rate and side-slip angle |
| title_sort | integrated brake based torque vectoring control of vehicle yaw rate and side slip angle |
| topic | UCTD Torque Vectoring Yaw Rate Control Side-Slip Angle Brake-based torque Engineering, built environment and information technology theses SDG-09 SDG-09: Industry, innovation and infrastructure Engineering, built environment and information technology theses SDG-11 SDG-11: Sustainable cities and communities Engineering, built environment and information technology theses SDG-12 SDG-12: Responsible consumption and production |
| url | http://hdl.handle.net/2263/71751 |