Vehicle Yaw Control Utilizing Hybrid Electric Drivetrains with Multiple Electric Motors

Open Access
D'Iorio, James Anthony
Graduate Program:
Mechanical Engineering
Master of Science
Document Type:
Master Thesis
Date of Defense:
Committee Members:
  • Moustafa El Gindy, Thesis Advisor
  • Joel Robert Anstrom, Thesis Advisor
  • dynamic yaw control
  • stability control
  • electric vehicle
  • hybrid
  • traction control
  • full-size vehicle testing
  • yaw moment
Vehicles with multiple electric motors coupled to individual wheels have exciting opportunities for safety control systems. An investigation is conducted to determine what dynamic benefits can be gained by vehicles with this architecture. First, a literature survey is conducted to determine what other researchers have investigated. Next a theoretical approach to the subject sheds some light on what control techniques to apply. Then, a unique vehicle named the Electric Lion that exists at the Thomas D. Larson Pennsylvania Transportation Institute is used to conduct testing for this research topic. The vehicle is a series hybrid that has an electric motor coupled to each front wheel. Sensors were installed, and testing was conducted at the Penn State ice rink. The results are analyzed, and conclusions are drawn. The investigation concludes with recommendations for future work.