Title Page
Abstract
Contents
1. Introduction 10
2. Modeling of the car-trailer system and controller design 12
2.1. Equations of motion for bicycle model of the car-trailer system 12
2.2. Controller design 14
2.2.1. Equations for control design 14
2.2.2. Toque vectoring controller 17
3. Simulation 20
3.1. Equations of motion for double-track model of the car-trailer system 20
3.2. Simulation result 24
4. Experiment 28
4.1. Hardware and software preparation for the real road driving test 28
4.2. Experiment result 37
5. Conclusion 40
Reference 41
Table 1. Parameters of the magic formula tire model 22
Table 2. Parameters of the car 25
Table 3. Parameters of the trailer 25
Table 4. Parameters of the controller and estimator 26
Table 5. Parameters of the left in-wheel motors 35
Table 6. Parameters of the right in-wheel motors 35
Fig. 1. Bicycle model of the car-trailer system. 12
Fig. 2. Lateral tire force adopted by the magic tire model. 15
Fig. 3. Double-track model of the car-trailer system. 23
Fig. 4. Magic formula tire model with combined-slip correction. 24
Fig. 5. Road steering angle input. 26
Fig. 6. Single Lane change simulation result. 27
Fig. 7. Kia Sorento used in the real road driving test 29
Fig. 8. The in-wheel motor driven trailer used in the real road driving test 29
Fig. 9. 72V 71Ah lithium-ion battery 30
Fig. 10. 5000W in-wheel motor 30
Fig. 11. Vesc motor driver 31
Fig. 12. dSpace MicroAutoBoxIII 31
Fig. 13. The configured system for controlling in-wheel motor driven trailer 32
Fig. 14. The electrical circuit of the configured system 33
Fig. 15. The in-wheel motor drive test unit built in the lab 33
Fig. 16. The in-wheel motor torque vectoring controller implemented in the MicroAutoBoxIII 34
Fig. 17. The data output test at the test unit built in the lab 34
Fig. 18. (a) Left in-wheel motor driven data, (b) Right in-wheel motor driven data. 36
Fig. 19. (a) Road steering angle input, (b) Velocity of the tested cars. 38
Fig. 20. Single Lane change real road driving test result. 39