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“…Details can be found in references. [21][22][23] Mathematical model of integrated braking system When conducting theoretical analysis and simulation experiments on the braking performance of the new electric wheel, it is necessary to establish a simplified mathematical model according to the dynamic characteristics of the vehicle and the design scheme of the composite braking system. Much research at home and abroad has been carried out concerning the separate hydraulic braking system and regarding the electromagnetic braking system model.…”
Section: Vehicle Dynamic Model Of 7 Dofmentioning
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“…Details can be found in references. [21][22][23] Mathematical model of integrated braking system When conducting theoretical analysis and simulation experiments on the braking performance of the new electric wheel, it is necessary to establish a simplified mathematical model according to the dynamic characteristics of the vehicle and the design scheme of the composite braking system. Much research at home and abroad has been carried out concerning the separate hydraulic braking system and regarding the electromagnetic braking system model.…”
Section: Vehicle Dynamic Model Of 7 Dofmentioning
“…In practice, the yaw rate and sideslip angle can be regarded as the universally applied indicators of system stability and dynamic performance, which considerably benefit the lateral motion control. Compared with anti-lock braking control and traction control, direct yaw moment control (DYMC) can compensate for the steering input with yaw moment generated by longitudinal tire force [7], [8]. DYMC helps specify dynamic capacities in terms of driving torque and steering and enhancing reliability and mobility [9], [10].…”
Section: Introductionmentioning
“…e in-wheel motor driven electric vehicle has the unique advantages of simple and compact structure, high-efficiency transmission system, and independent control of driving torque and braking torque. It represents an important direction for the development of next-generation electric vehicles, and its key technologies have become research hotspots for automobile companies and scholars in university at home and abroad, such as rotor arrangement [1], acoustic noise analysis [2] and vibration absorption design [3] of in-wheel motor, variable voltage charging control scheme for the battery [4], and accurate estimation of vehicle dynamic parameters [5][6][7]. However, for the existing two types of in-wheel motor, both the inner-rotor deceleration driving and the outer-rotor direct driving motor have some shortcomings in practical applications, which cannot always achieve high system efficiency under all driving conditions.…”
Section: Introductionmentioning