Driving Force Distribution and Control for EV With Four In-Wheel Motors: A Case Study of Acceleration on Split-Friction Surfaces

Motion stabilization for electric vehicles with four in-wheel motors has been extensively studied in recent years. While most of the previous works have tended to focus on the development of optimization algorithms for driving force distribution, this paper considers a global-local control scheme: t...

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Bibliographic Details
Published in:IEEE transactions on industrial electronics (1982) 2017-04, Vol.64 (4), p.3380-3388
Main Authors: Yafei Wang, Fujimoto, Hiroshi, Hara, Shinji
Format: Article
Language:English
Subjects:
Acceleration
Algorithms
Case studies
Computer simulation
Driving force
electric vehicle (EV)
Electric vehicles
Force
Force distribution
Friction
in-wheel motor (IWM)
motion control
Motors
Observers
Optimization
Redesign
Roads
Stress concentration
Vehicles
Wheels
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Summary:Motion stabilization for electric vehicles with four in-wheel motors has been extensively studied in recent years. While most of the previous works have tended to focus on the development of optimization algorithms for driving force distribution, this paper considers a global-local control scheme: the global controller coordinates wheel and vehicle motions to generate reference driving forces and the local controller further controls the generated force commands. Specifically, two approaches with different global control concepts are proposed. The first approach considers the redesign of weighting factors for a conventional driving force optimization algorithm, and based on the first method, the second approach formulates the objective function and equality constraints in a two degree-of-freedom control framework. As an example, vehicle start off on an instantaneous split-friction road is employed to verify the proposed methods in both simulations and experiments.
ISSN:0278-0046
1557-9948
DOI:10.1109/TIE.2016.2613838