Real-data-based modeling and torque vectoring algorithm for a 4-wheel-drive Formula student vehicle

In this project, a Torque Vectoring algorithm for a Formula Student vehicle with four inwheel electrical machines is designed and tested. This algorithm includes the development of a Quasi-LPV bicycle model, the design of a Proportional-Integral yaw rate controller and the statement and solution of a Torque Distribution multi-objective optimization problem. Data analysis and the information that can be extracted from this process is explained and discussed, as it is a fundamental procedure for each of the control modules that are going to be developed. Also a vehicle dynamics introduction is presented in order to enable a better understanding of every step that has been done throughout the project. Finally, all the results obtained from the resultant Torque Vectoring control system are presented and discussed with its consequent conclusions