Combination of Skid Control and Direct Yaw Moment Control to Improve the Safety and Stability of the Small Electric Vehicle with Two In-Wheel Motors

P.M Heerwan,M.I Ishak,S.M Ashraf,M.N Nik Hisyamudin,K Amir,I Mohd Rasidi,M Sofian,Z Izzuddin,Md J Mohd Azlis Sani,I Al Emran,T.A Ahmad Mubarak,M.B Mohd Faizal

doi:10.1051/matecconf/201713500022

Abstract

For a small electric vehicle (EV) with the rear two in-wheel motors, the hydraulic brake system and the mechanical brake system are installed at the front and rear tire respectively. The mechanical brake system is used at the rear tire because there is no enough space for the hydraulic brake system. In a braking condition, the in-wheel motor at the rear tire will generate the regenerative braking force and it can improve the braking performance of the vehicle. However, during braking on the low adhesion road surface, anti-lock brake system (ABS) is very crucial to prevent the tire from lock-up. To improve the safety and stability of the vehicle, the combination of anti-skid control system and direct yaw moment control system is proposed. The anti-skid control system contains a hydraulic unit of ABS at the front tires and regenerative brake timing control at the rear tires. The control method of the regenerative brake timing control is same as ABS and it will turn on and off to prevent the tire from lock-up. On the other hand, the direct yaw moment control system is developed to increase the steer performance of the vehicle. The optimal control is used as the control strategy method to control the yaw moment. The simulation is developed in MATLAB Simulink and the result shows that the proposed model can improve the stopping distance from 9 seconds to 8.2 seconds. In addition, the combination of skid control and yaw moment control also improved the steer performance of the vehicle.

Highlights

IntroductionResearch of the electrical vehicles (EVs) is become trending among automotive researchers [1]
Research of the electrical vehicles (EVs) is become trending among automotive researchers [1]. It is because many advantages of electric vehicle (EV) that can achieve than conventional internal combustion engine vehicles (ICEVs)
The result shows that HMBS with anti-lock brake system (ABS) and regenerative brake timing control can improve the steer performance of the small EVs

Summary

Introduction

Research of the electrical vehicles (EVs) is become trending among automotive researchers [1]. The hydraulic unit of ABS is install in between master cylinder and rear power cylinder, due to the low response performance of the mechanical brake system, the rear tire is lock-up. From the study of ABS and regenerative braking force timing control, the braking performance of small EVs with in-wheel motors can be improved. M. Heerwan et al have developed the HMBS with ABS at the front tire and regenerative brake timing control at the rear tire to improve the braking and steer performance on the cornering [6]. The result shows that HMBS with ABS and regenerative brake timing control can improve the steer performance of the small EVs. that model can improve the steer performance, the stability of the vehicle is still need to be improved because the yaw rate is unstable.

Vehicle Model

Braking system of the analysis vehicle model

Skid control

Direct yaw control

Results and discussion

Conclusion