Constrained stability control with optimal power management strategy for in-wheel electric vehicles

Abstract

This paper looks into the energy management and directional stability of four-in-wheel driven electric vehicles, simultaneously. In the proposed strategy, the optimal driving torques are initially distributed between the wheels by considering the condition for minimum losses of motors using the motor efficiency model. In risky maneuvers, a novel optimal torque vectoring system is developed to intentionally change the initial optimal torques for the generation of required stabilizing yaw moment. For designing the stability controller, a new constrained control method is analytically developed based on the prediction of continuous nonlinear vehicle models. The proposed control method restricts the side-slip angle to guarantee the stability. Also, the required control torque for each motor is restricted within the admissible range according to the motor map. As another result of the constrained strategy, a small change in the optimal energy consumption is occurred for improved stability because of using minimum external yaw moment. In simulation studies, a good performance of the developed control system to provide both directional stability and drivability of electric vehicle with high energy efficiency is presented at different driving conditions using 14-degrees-of-freedom vehicle model. A comparative study with the conventional model predictive control method indicates the speed of the proposed constrained control method and the ease of its solution and implementation.

A Comparative Study of Energy Consumption and Recovery of Autonomous Fuel-Cell Hydrogen–Electric Vehicles Using Different Powertrains Based on Regenerative Braking and Electronic Stability Control System

“…Nevertheless, the aforementioned advantages of an in-wheel motor, such as regenerative electronic stability control (RESC), have opened up avenues for further exploration. To this end, research by Najjari et al [42] proposed a strategy for managing the energy and directional stability of four in-wheeldriven electric vehicles. Another piece of research by Xu et al [43] modeled four in-wheel hub motors by examining factors such as the regenerative braking performance and its effect on energy recovery for the front and rear wheels.…”

Method of Improving Lateral Stability by Using Additional Yaw Moment of Semi-Trailer

“…The rear wheel hub drive vehicle is driven by distributed power. Through the accurate control of the wheel hub motor of the rear wheel hub drive vehicle, the handling and safety of the vehicle can be significantly improved [11][12][13]. Many scholars have researched the lateral stability control of tractor semi-trailers and hub-driven vehicles.…”