Abstract
This study proposes an integrated control system to enhance vehicle handling and stability by Traction Control System (TCS) and Direct Yaw-moment Control (DYC) and Active Front Steering (AFS). The micro-scale electric vehicle NOVELII is equipped with two in-wheel-motors at rear axle and Steer-By-Wire (SBW) System. In-wheel-motors torques can be controlled independently to achieve the TCS and DYC. To enhance vehicle handling and stability against disturbance, independent torque control system of DYC and steering control algorithm of SBW is proposed by using theory of disturbance observer. To improve directional stability and drivability, the controller is designed to regulate the yaw rate generated by asymmetric driving on μ-split road. Finally, the effectiveness by integration of these control systems is verified by computer simulation.
