Optimal Torque-Vectoring Control Strategy for Energy Efficiency and Vehicle Dynamic Improvement of Battery Electric Vehicles with Multiple Motors

Electric vehicles comprising multiple motors allow the individual wheel torque allocation, i.e. torque-vectoring. Powertrain configurations with multiple motors provide additional degree of freedom to improve system level efficiencies while ensuring handling performances and active safety. However, most of the works available on this topic do not simultaneously optimize both vehicle dynamic performance and energy efficiency while considering the real-time implementability of the controller. In this work, a new and systematic approach in designing, modeling, and simulating the main layers of a torque-vectoring control framework is introduced. The high level control combines the actions of an adaptive Linear Quadratic Regulator (A-LQR) and of a feedforward controller, to shape the steady-state and transient vehicle response by generating the reference yaw moment. A novel energy efficient torque allocation method is proposed as a low level controller. The torque is allocated on each wheel by solving a quadratic programming problem. The latter is solved in real-time to guarantee the desired yaw moment and the requested driver power demand while minimizing the system losses. The objective function of the quadratic problem accounts for the efficiency map of the electric machine as well as the dissipations due to tire slip phenomena. The torque-vectoring is evaluated in a co-simulation environment. Matlab/Simulink is used for the control strategy and VI-CarRealTime for the vehicle model and driver. The vehicle model represents a high performance pure electric SUV with four e-motors. The performance of the proposed controller is assessed using open loop maneuvers and in closed loop track lap scenarios. The results demonstrate that the proposed controller enhances the vehicle’s performance in terms of handling. Additionally, a significant improvement in energy saving in a wide range of lateral acceleration conditions is: presented. Moreover, the control strategy is validated using rapid control prototyping, thus guaranteeing a deterministic real-time implementation

Notulae to the Italian native vascular flora: 5.

In this contribution, new data concerning the distribution of native vascular flora in Italy are presented. It includes new records and confirmations to the Italian administrative regions for taxa in the genera Allium, Arabis, Campanula, Centaurea, Chaerophyllum, Crocus, Dactylis, Dianthus, Festuca, Galanthus, Helianthemum, Lysimachia, Milium, Pteris, and Quercus. Nomenclature and distribution updates, published elsewhere, and corrections are provided as supplementary material

Notulae to the Italian native vascular flora: 10

In this contribution, new data concerning the distribution of native vascular flora in Italy are presented. It includes new records, confirmations, exclusions, and status changes to the Italian administrative regions for taxa in the genera Artemisia, Chaetonychia, Cirsium, Cynanchum, Genista, Hieracium, Iberis, Melica, Misopates, Myosotis, Thalictrum, Trifolium, Utricularia, Veronica, and Vicia. Nomenclatural and distribution updates, published elsewhere, and corrigenda are provided as supplementary material

Notulae to the Italian native vascular flora: 6

In this contribution, new data concerning the distribution of native vascular flora in Italy are presented. It includes new records, confirmations and status changes to the Italian administrative regions for taxa in the genera Alchemilla, Arundo, Bupleurum, Clematis, Clinopodium, Cota, Crassula, Cytisus, Euphorbia, Hieracium, Isoëtes, Lamium, Leontodon, Linaria, Lychnis, Middendorfia, Ophrys, Philadelphus, Pinus, Sagina, Sedum, Taeniatherum, Tofieldia, Triticum, Veronica, and Vicia. Nomenclature and distribution updates, published elsewhere, and corrigenda are provided as supplementary material

Notulae to the Italian native vascular flora: 6

In this contribution, new data concerning the distribution of native vascular flora in Italy are presented. It includes new records, confirmations and status changes to the Italian administrative regions for taxa in the genera Alchemilla, Arundo, Bupleurum, Clematis, Clinopodium, Cota, Crassula, Cytisus, Euphorbia, Hieracium, Isoëtes, Lamium, Leontodon, Linaria, Lychnis, Middendorfia, Ophrys, Philadelphus, Pinus, Sagina, Sedum, Taeniatherum, Tofieldia, Triticum, Veronica, and Vicia. Nomenclature and distribution updates, published elsewhere, and corrigenda are provided as supplementary material

A Combined IR-GPS Satellite Analysis for Potential Applications in Detecting and Predicting Lightning Activity

Continuous estimates of the vertical integrated precipitable water vapor content from the tropospheric delay of the signal received by the antennas of the global positioning system (GPS) are used in this paper, in conjunction with the measurements of the Meteosat Second Generation (MSG) spinning enhanced visible and infrared imager (SEVIRI) radiometer and with the lightning activity, collected here by the ground-based lightning detection network (LINET), in order to identify links and recurrent patterns useful for improving nowcasting applications. The analysis of a couple of events is shown here as an example of more general behavior. Clear signs appear before the peak of lightning activity on a timescale from 2 to 3 h. In particular, the lightning activity is generally preceded by a period in which the difference between SEVIRI brightness temperature (TB) at channel 5 and channel 6 (i.e., ∆TB) presents quite constant values around 0 K. This trend is accompanied by an increase in precipitable water vapor (PWV) values, reaching a maximum in conjunction with the major flash activity. The results shown in this paper evidence good potentials of using radiometer and GPS measurements together for predicting the abrupt intensification of lightning activity in nowcasting systems