Torque Vectoring Control with Gain Scheduling PID During Cornering Maneuvers for Electrical Vehicles

Vehicle dynamic control plays a crucial role in preventing accidents by reducing the difference between the expected and measured vehicle response. Torque vectoring control is a contemporary control method used in vehicle dynamic control to enhance the traction performance of vehicles. In this study, a gain-scheduled PID-based torque vectoring controller is proposed to control a nonlinear, multi-degree-of-freedom vehicle model with three electric motors during turning maneuvers. To this end, same maneuver is generated for twelve different working point that the vehicle may encounter during driving, and optimal coefficients that minimize the total squared error performance criterion are found for each maneuver. The coefficient surfaces are obtained for each controller coefficient using the cubic spline interpolation method. In simulation studies, the proposed gain-scheduled PID controller is tested under various maneuver changes, and it is observed that the performance of the control system significantly improves compared to the conventional PID controller.