Each wheel torque can be controlled independently, so four-wheel-drive electric vehicle can not only control the vehicle stability through hydraulic braking pressure regulation, but also through controlling the motor driving and braking force to generate yaw moment, which are different with the conventional vehicles. 4WD Evs have potential applications in control engineering. Both in-wheel motors and the EHB are actuators for vehicle stability control. In this paper, a vehicle co-simulation platform is constructed through the application of AMEsim and Simulink, additionally, a fuzzy controller is designed to generate yaw moment so as to compensate for deviations between CG slip angles and yaw rate. The simulation results show that the stability control system with motors and a mechanical load brake system can effectively improve the handling stability of the vehicle.
According to the characteristic that each wheel torque of 4WD electric vehicle is independent controllable, the control allocation method with hierarchical structure to optimize the distribution of motor torque can improve the handling stability of the vehicle. The controller is composed of an upper controller and a lower distributor, of which the upper controller can calculate the generalized force of longitudinal force and yaw moment that the vehicle needed based on the vehicle state, and the lower controller is used to figure out the torque allocated to each wheel. The whole vehicle and steering system models are established for simulation and demonstration through the application of Matlab and Simulink. The simulation results show that the control allocation method with hierarchical structure can effectively improve the handling stability of the vehicle.
The electro-mechanical braking system of In-Wheel-Motor vehicle is analyzed by applying vehicle braking stability theory. Considering the properties of composite lectro-mechanical braking system, a regenerative braking system control strategy with ABS function for In-Wheel-Motor vehicle is proposed. In the strategy, the ABS function is achieved by adjust the motor torque. With using the new strategy, simulations are conducted on an in-wheel-motor vehicle model, and the road adhesion coefficient in the simulation is 0.2 and 0.8 respectively. The result shows that the control strategy proposed enhances the braking stability of In-Wheel-Motor vehicle.
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