Optimal Torque Control for an Electric-Drive Vehicle with In-Wheel Motors: Implementation and Experiments

Abstract

This paper presents the implementation of an off-line optimized torque vectoring controller on an electric-drive vehicle with four in-wheel motors for driver assistance and handling performance enhancement. The controller takes vehicle longitudinal, lateral, and yaw acceleration signals as feedback using the concept of state-derivative feedback control. The objective of the controller is to optimally control the vehicle motion according to the driver commands. Reference signals are first calculated using a driver command interpreter to accurately interpret what the driver intends for the vehicle motion. The controller then adjusts the braking/throttle outputs based on discrepancy between the vehicle response and the interpreter command. A test vehicle equipped with four in-wheel electric motors, vehicle sensors, communication buses, and dSPACE rapid prototyping hardware is instrumented and the control performance is verified through vehicle handling tests under different driving conditions.

Novel Tire Force Estimation Strategy for Real-Time Implementation on Vehicle Applications

“…All sensory data used in the proposed structure in Section II are filtered using a type-II Chebyshev lowpass filter. For brevity of the paper, details of this filter are referred to [30].…”

A Comparative Analysis of Power Consumption in Conventional and Differential – Less Drive for Electric Vehicle

“…A test vehicle equipped with four inwheel electric motor, vehicle sensors, correspondence transports, and DSPACE quick prototyping gear is instrumented and the control execution is affirmed through vehicle taking care of tests under different driving conditions. [8] The propulsive force F available from the propulsion system is partially consumed in overcoming the road load, Fw. The net force, F-Fw, accelerates the automotive (or decelerates when FW exceeds F).…”

Development of a Driver-in-the-Loop Simulation to Evaluate the Performance to Energy Trade-Off of Active Dynamics Systems on an Electric Race Car

“…Various vehicle dynamics control systems, such as automatic rear-wheel steering, independent wheel torque vectoring, magnetorheological dampers, and aerodynamic drag reduction systems, have previously demonstrated their potential for improving vehicle performance [1][2][3][4][5][6][7][8][9][10][11][12][13][14][15][16]. Any control system, however, incurs an energy cost with increased controller effort.…”