Upload
truongtram
View
221
Download
1
Embed Size (px)
Citation preview
1 BEG-CD | 6/22/2010 | © Bosch Engineering GmbH 2010. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.
Bosch Engineering GmbH
Peter van Vliet Bosch Engineering GmbH
Torque VectoringTorque Vectoringfor improved vehicle dynamicsfor improved vehicle dynamics
Vehicle Dynamics EXPO Stuttgart, June 22nd 2010
2
Bosch Engineering GmbH
BEG-CD | 6/22/2010 | © Bosch Engineering GmbH 2010. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.
Bosch Engineering GmbH
► 100 % subsidiary of Robert Bosch GmbH► established in 1999, approx. 1400 employees► customized solutions based on Bosch products
CombustionEngines
CombustionEngines
Vehicle Dynamics
Vehicle Dynamics
EE-Integration
EE-Integration MotorsportMotorsport Sensor-
Systems
Sensor-Systems
3 BEG-CD | 6/22/2010 | © Bosch Engineering GmbH 2010. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.
Bosch Engineering GmbH
Torque Vectoring – Actuators
active differential
Differential
brake
Brake
electric motor
E-Motors
yaw torque yaw torqueyaw torque
4 BEG-CD | 6/22/2010 | © Bosch Engineering GmbH 2010. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.
Bosch Engineering GmbH
Contents
driver
unique benefits regarding lateral
dynamicsless compromises
raise performance objectively
unique benefits regarding vehicle
dynamics
unique benefits regarding vehicle
dynamics
5 BEG-CD | 6/22/2010 | © Bosch Engineering GmbH 2010. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.
Bosch Engineering GmbH
ESC
TV brake
understeering oversteering
Torque vectoring – range of action
TV electric motors
ESC
TV differential
TV brake
dynamic state of the vehicle
6
Raise the limiting cornering speed
BEG-CD | 6/22/2010 | © Bosch Engineering GmbH 2010. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.
Bosch Engineering GmbH
60
friction potential is notutilized completely
without torque vectoring- understeering setup -
front axle reaches the limit first
with torque vectoring- neutral -
yaw torque reduces lateral slip at front axle
increased usage of friction potential at rear axle
limitingspeed
60
limit not reached
7
Raise the limiting cornering speed
BEG-CD | 6/22/2010 | © Bosch Engineering GmbH 2010. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.
Bosch Engineering GmbH
60
friction potential is notutilized completely
without torque vectoring- understeering setup -
front axle reaches the limit first
Full usage of friction potential
70
with torque vectoring- neutral -
Improvement of traction!
limitingspeed
limitingspeed
8 BEG-CD | 6/22/2010 | © Bosch Engineering GmbH 2010. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.
Bosch Engineering GmbH
without torque vectoring
with torque vectoring
steering angleyaw rate
time
steering angleyaw rate
time
Virtual reduction of the moment of inertia
9 BEG-CD | 6/22/2010 | © Bosch Engineering GmbH 2010. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.
Bosch Engineering GmbH
Contents
driver
unique benefits regarding lateral
dynamicsless compromises
raise performance objectively
unique benefits regarding vehicle
dynamics
10
The compromises in chassis tuning
BEG-CD | 6/22/2010 | © Bosch Engineering GmbH 2010. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.
Bosch Engineering GmbH
Torque vectoring alternativeslower center of gravity
Benefit► less load transfer improves traction and
agility
Compromises► chassis needs to be adapted
► stiffer springs affect comfort
► less ground clearance
torque vectoring
Benefits► torque vectoring does not affect
driving comfort
► chassis tuning can be focused more
on aspects like comfort and stability,
since agility and traction are already
improved
11
The compromises in chassis tuning
BEG-CD | 6/22/2010 | © Bosch Engineering GmbH 2010. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.
Bosch Engineering GmbH
Torque vectoring alternativesincreased camber angle at front wheels
Benefit► more grip at front axle: increased agility
Compromises► loss of driving stability at high speeds
► no vehicle dynamics control
► tire wear
torque vectoring
Benefits► agility improvements are situation
dependent (sensor information)
► agility at low speeds, simultaneously
stability at high speeds
► adaptive control on dry or wet
asphalt and low-μ
12 BEG-CD | 6/22/2010 | © Bosch Engineering GmbH 2010. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.
Bosch Engineering GmbH
Contents
driver
unique benefits regarding lateral
dynamicsless compromises
raise performance objectively
unique benefits regarding vehicle
dynamics
13
Coupé (Bosch Engineering)
► torque vectoring actuator: 4 e-motors
► total power: 4 x 60 kW
► maximum wheel torque: 700 Nm► acceleration 0-100 km/h: ca. 7 s
► maximum speed: 130 km/h
► weight: 1970 kg► battery capacity: 45 KWh
Experimental results – TV e-motors and TV-brake
BEG-CD | 6/22/2010 | © Bosch Engineering GmbH 2010. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.
Bosch Engineering GmbH
Sports car (OEM)
► torque vectoring actuator: brake
► combustion engine power: > 350 kW
► maximum speed: > 250 km/h► weight: ca. 1550 kg
► driven wheels: rear axle
14
Speed differenceseveral attempts to find out maximum drive-through speed
TV e-motors: 70 km/hno TV: 66 km/h
cone distance = 18m
Experimental results – E-motors – slalom course
BEG-CD | 6/22/2010 | © Bosch Engineering GmbH 2010. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.
Bosch Engineering GmbH
-40 -20 0 20 40-200
-150
-100
-50
0
50
100
150
200
yaw rate [rad/s]
stee
ring
whe
el a
ngle
[°]
TV e-motorsno TV
15
radius = 50m
speedslowly increasing until the vehicle leaves the circular path
Experimental results – brake - skid pad testing
BEG-CD | 6/22/2010 | © Bosch Engineering GmbH 2010. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.
Bosch Engineering GmbH
50 60 70 80 90 100 110 120
6789
101112
Steering wheel angle (°)
late
ral a
ccel
erat
ion
(m/s
2 )
TV - brakeno TV
1 m/s2
16 BEG-CD | 6/22/2010 | © Bosch Engineering GmbH 2010. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.
Bosch Engineering GmbH
Experimental results – brake – race track driving
lap distance: 2.2kmnumber of laps: 2lap times reproducibility: < 0.2s
17
100
120
140
160
180sp
eed
[km
/h]
02040
brak
e [b
ar]
600 700 800 900 1000 1100 12000
50100
thro
ttle
[%]
distance [m]
BEG-CD | 6/22/2010 | © Bosch Engineering GmbH 2010. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.
Bosch Engineering GmbH
Experimental results – brake – race track driving
TV brakeno TV
driver brakes earlier due to higher speed
earlier on-throttle at corner exit
speed level is raised by TV
18
100
120
140
160
180sp
eed
[km
/h]
02040
brak
e [b
ar]
5600 5700 5800 5900 6000 6100 62000
50100
thro
ttle
[%]
distance [m]
BEG-CD | 6/22/2010 | © Bosch Engineering GmbH 2010. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.
Bosch Engineering GmbH
Experimental results – brake – race track driving
Lap time reduction lap 1:
Measured improvement of lap times
1.1 seconds
Lap time improvement by torque vectoring strongly depends on:
► Chassis setup of vehicle (this case: understeering)
► Engine capacity: possibility to maintain the speed offset after corner exit (this case: > 350kW)
► Capability of the driver to push the vehicle to the limit (this case: world class driver)
Remember that Nordschleife is 21km…
Lap time reduction lap 2: 0.95 seconds
Lap distance: 2.2 km
19
Conclusion
BEG-CD | 6/22/2010 | © Bosch Engineering GmbH 2010. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.
Bosch Engineering GmbH
Torque vectoring
► Improvements in agility, safety, traction
► Chassis tuning without compromising on stability or comfort
► Benefits can be measured objectively
► Proven maturity of brake actuation concept
► Extended opportunities in multi-motor electric vehicles
--- An efficient method to improve vehicle dynamics ---
Thank you for your [email protected]