This article deals with the dynamic properties of individual wheel electric powertrains for fully electric vehicles, characterised by an in-board location of the motor and transmission, connected to the wheel through half-shafts. Such a layout is applicable to 2 vehicles characterised by larger power and torque requirements where the adoption of in-wheel electric powertrains is not feasible due to packaging constraints. However, the dynamic performance of in-board electric powertrains, especially if adopted for antilock braking or traction control, can be affected by the torsional dynamics of the halfshafts. This article presents the dynamic analysis of in-board electric powertrains in both the time and frequency domains. A feedback control system, incorporating state estimation through an extended Kalman filter, is implemented in order to compensate the effect of half-shaft dynamics. The effectiveness of the new controller is demonstrated through the analysis of the performance improvement of a traction control system.
This paper deals with the description of current and future vehicle technology related to yaw moment control, anti-lock braking and traction control through the employment of effective torque vectoring strategies for electric vehicles. In particular, the adoption of individually controlled electric powertrains with the aim of tuning the vehicle dynamic characteristics in steady-state and transient conditions is discussed. This subject is currently investigated within the European Union (EU) funded Seventh Framework Programme (FP7) consortium E-VECTOORC, focused on the development and experimental testing of novel control strategies. Through a comprehensive literature review, the article outlines the stateof-the-art of torque vectoring control for fully electric vehicles and presents the philosophy and the potential impact of the E-VECTOORC control structure from the viewpoint of torque vectoring for vehicle dynamics enhancement.
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