Abstract
An active energy-efficient direct yaw moment control (DYC) for in-wheel motor electric vehicles taking motor efficiency maps into consideration is proposed in this paper. The potential contribution of DYC to energy saving during quasi-steady-state cornering is analysed. The study in this paper has produced promising results which show that DYC can be used to reduce the power consumption while satisfying the same cornering demand. A controller structure that includes a driver model and an offline torque distribution law during continuous driving and cornering is developed. For comparison, the power consumption of stability DYC is also analysed. Simulations for double lane change manoeuvres are performed and driving conditions either with a constant velocity or with longitudinal acceleration are designed to verify the effectiveness of the proposed controller in different driving situations. Under constant velocity cornering, since the total torque demand is not high, two rear wheels are engaged and during cornering it is beneficial to distribute more torque to one wheel to improve energy efficiency. In the simulated driving manoeuvres, up to 10% energy can be saved compared to other control methods. During acceleration in cornering, since the total torque demand is high, it is energy-efficient to use all the four in-wheel motors during cornering.
Highlights
Electric vehicles have attracted a great deal of attention and are widely used nowadays
A new electric vehicle powertrain architecture realised by in-wheel motor technology, especially four in-wheel motors (4IWM), displays the possibility of achieving a more flexible torque distribution than that achieved in traditional centralised driving vehicles. 4IWM electric vehicles have more control variables than the number of relevant independently controlled generalised coordinates and can be called over-actuated electric vehicles
In this paper, an active energy-efficient direct yaw moment control (DYC) method taking into account motor efficiency maps is proposed for 4IWM electric vehicles
Summary
Electric vehicles have attracted a great deal of attention and are widely used nowadays. Using DYC is an active way to reduce the energy consumption, motor efficiency maps were not considered in the studies. Several researchers have studied hierarchical control structures consisting of a high-level stability control and a low-level energy-efficient torque distribution control [8,9,10]. There are some researchers who have studied the energy-efficient control of 4IWM and steer-by-wire electric vehicles [14,15]. These researchers followed the hierarchical DYC control method, with stability control being achieved by the high-level controller. In this paper, an active energy-efficient DYC method taking into account motor efficiency maps is proposed for 4IWM electric vehicles. Conclusions drawn from the study presented in this paper are provided, as well as proposals for future research
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