Abstract
Electric vehicles are considered to be a greener and safer means of transport thanks to the distinguished advantages of electric motors. Studies on this object require experimental platforms for control validation purpose. Under the pressure of research, the development of these platforms must be reliable, safe, fast, and cost effective. To practically validate the control system, the controllers should be implemented in an on-board micro-controller platform; whereas, the vehicle model should be realized in a real-time emulator that behaves like the real vehicle. In this paper, we propose a signal hardware-in-the-loop simulation system for electric vehicles that are driven by four independent electric motors installed in wheels (in-wheel motor). The system is elaborately built on the basis of longitudinal, lateral, and yaw dynamics, as well as kinematic and position models, of which the characteristics are complete and comprehensive. The performance of the signal hardware-in-the-loop system is evaluated by various open-loop testing scenarios and by validation of a representative closed-loop optimal force distribution control. The proposed system can be applied for researches on active safety system of electric vehicles, including traction, braking control, force/torque distribution strategy, and electronic stability program.
Highlights
In the time of energy and environment crisis, electric vehicles (EVs) have emerged as a remarkable solution for replacing gasoline transportation system, which mainly causes environmental issues.EVs bring to users safer and more enjoyable transport means
Besides traditional but prospective studies on Power Electronics [3,4] and Electric Drives [5], there are many other subjects that are oriented to EVs, for example, Motion Control [6], Energy Management System [7], and Autonomous Driving [8]
Called an active safety system, has exploited the major advantages of electric motors installed on EVs very well
Summary
In the time of energy and environment crisis, electric vehicles (EVs) have emerged as a remarkable solution for replacing gasoline transportation system, which mainly causes environmental issues. Signal HIL system exposes some advantages that can be applied for vehicle simulation, and for many other research fields, e.g process control [26], robotics [27], and power system [28] This kind of HIL shows its dominant features in studies that operate at high power level and/or work in hazardous environments, with dangerous experimental conditions and high investment cost, because it uses numerical models for real-time simulation instead of real/power elements. Some other studies aimed to build HIL system in a signal level in order to validate vehicle control units in several applications, such as for motion control purpose [30,31], for motor control and power supply evaluation [32], or for ECU development [33] These works have taken into account many hardware platforms, including DS2210 of dSPACE, NI-PXI and CompactRIO of National Instruments.
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