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This work presents a predictive torque vectoring controller that optimally monitors the vehicle limits of handling using active torque distribution in the rear axle of a fully electric vehicle. It works in combination with a feedforward controller designed to improve the vehicle's agility. The overall torque vectoring strategy is described together with the vehicle lateral dynamics, sideslip angle estimator, and torque allocation method. Numerical simulations for various scenarios and road profiles show the benefits of predicting the vehicle's handling limits and the enhancement of vehicle stability in terms of reduced vehicle sideslip angle and driver effort. The proposed optimal control method for predicting vehicle handling limit violations does not require a dedicated solver, making it a promising candidate for real-time applications. The case study is a vehicle equipped with two rear in-wheel motors in the framework of , an ECSEL Joint Undertaking (JU) European research project. Hardware-in-the-loop (HiL) tests were performed on a dedicated e-axle test bench to integrate the torque vectoring controller with the real e-motors and a dual inverter. The results of the HiL testing demonstrate that the torque-vectoring requirements are satisfied by the hardware configuration in use. [ABSTRACT FROM AUTHOR]

This paper describes the modeling and experimental validation of the performance of two height adjustment suspensions with concentrically and eccentrically mounted screws. In the former solution, an anti-rotation system is required for the generation of reaction torque on the power screw–nut mechanism. The anti-rotation represents the main drawback of such mechanisms. In contrast, the eccentric solution attempts to solve this problem by placing the screw–nut mechanism eccentrically with respect to the shock absorber tube axis. In this paper, the working principle of the eccentric solution is explained. Its performance is compared to the concentric counterpart through simulations and experiments. Although the efficiencies of eccentric and concentric systems are very similar at the power screw, overall efficiencies differ substantially. During lifting, average efficiencies are around 3.4% and 6.5% for concentric and eccentric systems, respectively. When lowering, these values are 6.2% and 26%. The higher overall efficiency of the eccentric screw system is attributed to the anti-rotation system and the balancing of the bending moment due to the offset application of the load. To yield a complete perspective on the eccentric mounted screw solution, four prototypes are installed and tested on a demo vehicle. [ABSTRACT FROM AUTHOR]