Experimental Platform for Evaluation of On-Board Real-Time Motion Controllers for Electric Vehicles

Abstract

Electric vehicles are considered to be a greener and safer means of transport thanks to the distinguished advantages of electric motors. Studies on this object require experimental platforms for control validation purpose. Under the pressure of research, the development of these platforms must be reliable, safe, fast, and cost effective. To practically validate the control system, the controllers should be implemented in an on-board micro-controller platform; whereas, the vehicle model should be realized in a real-time emulator that behaves like the real vehicle. In this paper, we propose a signal hardware-in-the-loop simulation system for electric vehicles that are driven by four independent electric motors installed in wheels (in-wheel motor). The system is elaborately built on the basis of longitudinal, lateral, and yaw dynamics, as well as kinematic and position models, of which the characteristics are complete and comprehensive. The performance of the signal hardware-in-the-loop system is evaluated by various open-loop testing scenarios and by validation of a representative closed-loop optimal force distribution control. The proposed system can be applied for researches on active safety system of electric vehicles, including traction, braking control, force/torque distribution strategy, and electronic stability program.

A Virtual Testing Framework for Real-Time Validation of Automotive Software Systems Based on Hardware in the Loop and Fault Injection

“…Specifically, for the development of real-time driving simulators, several attempts have been proposed in the last decade [ 42 , 43 , 44 ]. For example, in [ 45 ], a signal HIL simulation platform focusing on electric vehicles was proposed to provide effective and accurate real-time validation of motion controllers. In this experimental platform, in addition to the possibility of manual driving, comprehensive characteristics of the target system were considered by modeling the vehicle dynamics in longitudinal, lateral and yaw directions.…”

A Systematic Review and Future Development of Automotive Chassis Control Technology

“…For internal combustion engine vehicles, the wire-controlled throttle system has replaced the traditional throttle system, and more than 99% of vehicle models on the market are equipped with a fuel-control door system. For new energy vehicles, the mainstream driving solutions currently include centralized motor drive and step-by-step motor drive, and the centralized motor drive solution has received a large number of applications, but is developing towards distributed motor drive represented by wheel edge and hub motors [52][53][54][55].…”

Electric Vehicle Efficient Power and Propulsion Systems

“…For the third subtopic "Electric machines", three papers focus on electric machines for traction/motion control, and one paper on the co-design technique of a continuously variable transmission (CVT) for EVs. Vo-Duy, T. et al present an experimental platform for the evaluation of on-board real-time motion controllers for EVs [4], providing a good example of the hardware-in-the-loop (HiL) system, on which the most important vehicle dynamics, including longitudinal, lateral, yaw, kinematic, and position models, have been built and validated in various testing scenarios. The proposed HiL system can be employed for research on various topics of EV control.…”