Conference article

Research of Model Matching Control of Torque Vectoring Differential Gear System

Yutaka Hirano
Toyota Motor Corporation, Japan

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Published in: The First Japanese Modelica Conferences, May 23-24, Tokyo, Japan

Linköping Electronic Conference Proceedings 124:2, p. 15-23

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Published: 2016-05-18

ISBN: 978-91-7685-749-6

ISSN: 1650-3686 (print), 1650-3740 (online)


In this paper, model-based development of a control of torque vectoring differential (TVD) gear system is described. A new control logic was developed using model matching control to let the vehicle yaw rate and vehicle slip angle follow the desired dynamics. Simulation results using a single track model of vehicle dynamics are shown to prove the efficacy of the proposed control. Modelica was useful to express time-varying state space system such as the single track model of vehicle dynamics. Also full vehicle model considering all of the vehicle dynamics and drive train motion using Modelica clarified the characteristics of this method in actual driving cases.


Model Based System Development, Vehicle Dynamics, Torque Vectoring, Model Matching Control


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