Torque Vectoring in Electric Vehicles with In-wheel Motors

Pinheiro, Henrique de Carvalho; Messana, Alessandro; Sisca, Lorenzo; Ferraris, Alessandro; Airale, Andrea Giancarlo; Carello, Massimiliana

doi:10.1007/978-3-030-20131-9_308

Cited by 14 publications

(8 citation statements)

References 9 publications

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“…In an electric car with in-wheel motors, two or four driving motors are used, which are directly coupled to the wheels [10]. In the 2-motor model, two motors can be coupled to the front or rear wheels.…”

Section: The Second Structurementioning

confidence: 99%

“…Triangular membership functions are used for simplicity and good control performance, which are shown in figures (8) and (9). Figure (10) In addition to control of the brake in the proposed fuzzy system, a regenerative energy mechanism has been installed for the brake system, which charges the battery when decelerating and braking; Of course, on the condition that the battery voltage and its State of Charge (SOC) do not exceed the permitted range of regenerative braking. Also, the permissible range of front and rear axles slip ratio is also considered in applying braking torque to the wheels in order to prevent the wheels from entering the unstable control area and as a result, slipping.…”

Section: Brakementioning

confidence: 99%

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A New Control Method for the Steadiness of Electric Vehicles with 2-Motor in Rear and Front Wheels

Mousaei

Peng

2023

Preprint

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In this article, a new control method is proposed for the stability of Electrical Vehicles (EVs) with 2-motor wheels. This control method provides an optimized limit for the torque levels that produced by the front and rear motors, proportional to the road surface condition, to prevent the vehicle from slipping. In addition, a fuzzy logic-based braking system is proposed to improve vehicle performance during deceleration. The vehicle is described by the model with three degrees of freedom, which provide good accuracy. The tires are modeled according to the magic formula. To evaluate the effectiveness of the proposed method, simulations were performed in the ©MATLAB. The conclusions show that the proposed control method can well maintain the steadiness of the EV on dry and slippery roads when driving straight, accelerating or decelerating, and turning. This will prevent the vehicle from slipping and locking the wheels.

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Section: The Second Structurementioning

confidence: 99%

Section: Brakementioning

confidence: 99%

A New Control Method for the Steadiness of Electric Vehicles with 2-Motor in Rear and Front Wheels

Mousaei

Peng

2023

Preprint

View full text Add to dashboard Cite

show abstract

“…For example, a multibody chassis model capable of studying the effects of hybrid electric powertrains on ride and handling was developed and validated using a test vehicle in [26]. A torque vectoring control strategy was proposed in [27] and its performance was assessed by applying it to a multibody dynamics-based HEV. The simulation results showed that improved vehicle response and drivability were achieved by the controller.…”

Section: Introductionmentioning

confidence: 99%

Comparison of Various Hybrid Electric Powertrains for Non-Road Mobile Machinery Using Real-Time Multibody Simulation

et al. 2022

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Electrification of non-road mobile machinery holds immense potential for reducing the high emissions and fuel consumption of such industrial machinery. Detailed real-time physics-based simulation models capable of comparing energy efficiencies of hybrid powertrains in realistic working conditions can aid the development of efficient mobile machinery. In this study, four system-level hybrid electric powertrain models have been developed and coupled with a detailed multibody dynamics-based tractor model in a co-simulation environment. The four models, differentiated by their topology and transmission design, are simulated in a virtual environment under the dynamic load conditions of a ploughing work cycle of the Deutsche Landwirtschafts-Gesellschaft powermix. The simulation results show that improvements of 9.7% and 9.2% in total energy consumption can be achieved by the two studied power-split configurations in the simulated work cycle compared to an automated manual transmission-based series powertrain. The double planetary gear-based power-split model achieved the highest energy recovery and lowest energy loss compared to the other models. The developed models are real-time capable, allowing a human operator to simulate customizable work cycles.

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“…In vehicle motion control research, the longitudinal and lateral motion controllers have attracted great research efforts. The algorithm utilized for motion controller design in prior literature includes a proportion-integral-differential (PID) controller [11,12], H-infinite controller [13], sliding mode controller (SMC) [14][15][16], linear quadratic regulator (LQR) [17], and model-predicted controller (MPC) [18,19]. The motion controller has been applied to calculate the vehicle resultant force for tracking the longitudinal motion and vehicle's resultant yaw moment for tracking the later motion, according to the vehicle's desired input and actual output.…”

Section: Introductionmentioning

confidence: 99%

Driving Force Distribution and Control for Maneuverability and Stability of a 6WD Skid-Steering EUGV with Independent Drive Motors

et al. 2021

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In this paper, a hierarchical driving force distribution and control strategy for a six-wheel drive (6WD) skid-steering electric unmanned ground vehicle (EUGV) with independent drive motors is presented to improve the vehicle maneuverability and stability. The proposed hierarchical strategy is based on a nine-degrees-of-freedom (DOFs) dynamics model of 6WD skid-steering EUGV with a vehicle system dynamics model, wheel dynamics model, and tire model. In the proposed hierarchical strategy, the upper layer controller calculates the resultant driving force and yaw moment to control the vehicle motion states to track the desired ones by using the integral sliding mode control (ISMC) and proportion–integral–differential (PID) control methods. In the lower layer controllers, the driving force distribution method is adopted to allocate torques to the six motors. An objective function is proposed and composed of the longitudinal tire workload rates and weighting factors, considering the inequality constraints and equality constraints, which is solved by using the active set method. In order to evaluate the effectiveness of the proposed method, experiments with two types of scenarios were conducted. Comparative studies were also conducted with the other two methods used in the literature. The experimental results show that better performance can be achieved with the proposed control strategy in vehicle maneuverability and stability.

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Torque Vectoring in Electric Vehicles with In-wheel Motors

Cited by 14 publications

References 9 publications

A New Control Method for the Steadiness of Electric Vehicles with 2-Motor in Rear and Front Wheels

A New Control Method for the Steadiness of Electric Vehicles with 2-Motor in Rear and Front Wheels

Comparison of Various Hybrid Electric Powertrains for Non-Road Mobile Machinery Using Real-Time Multibody Simulation

Driving Force Distribution and Control for Maneuverability and Stability of a 6WD Skid-Steering EUGV with Independent Drive Motors

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