Abstract
In-wheel motor drives electric vehicles are becoming more and more widely used due to their unique advantages. This paper addresses the problem of in-wheel motor drive electric vehicle wheels slipping on low-attached roads. An active disturbance rejection controller is designed to control the inwheel motor torque and prevent the wheel slipping. The co-simulation is carried out between the adams and Matlab, and the results of simulation demonstrated that the controller which can prevent the wheel slipping effectively was perfect. The most important is that the controller can be implemented easily.
Highlights
In-wheel motor drive electric vehicle has superiorities of flexible system collocation and fleetly driving speciality, which is an important develop direction of electric vehicle
The in-wheel motor drive electric vehicle has four motors which have independent controller, and the vehicle controller, batteries management system and the motor controllers are communicated by CAN bus
Where: m is the total mass of the vehicle; i is the ratio between the motor and the wheel; J is the moment of inertia of the wheel; V is the vehicle speed; λ is the wheel slip rate; r is the wheel radius; ω is the wheel angular velocity; μ(λ) is the adhesion coefficient of the wheel; f is the rolling resistance coefficient of the wheel; Te is the electromagnetic torque of the motor; Fz is the load of the wheel; ΔFz is the dynamic load of the wheel
Summary
In-wheel motor drive electric vehicle has superiorities of flexible system collocation and fleetly driving speciality, which is an important develop direction of electric vehicle. If the motor torque is not limited when the vehicle is on the low-adhesion surface or the wheel is suspended, the wheel may be slipped which affects the traffic safety. The anti-skid control is adopted to control the wheel speed in a certain range by adjusting the inwheel motor torque in order to ensure the safety of the vehicle, which can advance the longitudinal and lateral characteristics of the tire. The active disturbance rejection control is applied to the anti-slip control of the wheel. The vehicle dynamics system is considered to be a large disturbance and uncertain system which need a nonlinear controller, and for another thing, the achievability of the control algorithm in real vehicle application is guaranteed
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