Abstract
Multi-wheel driven EV is referred to as an over-actuated system in the motion control synthesis process. It is meaningful to use the redundant actuators to maintain the control reliability and thus improve the dynamics of EV. In this paper, a dynamic optimum force distribution method which utilizes redundant motors is discussed. Besides, we also mention a disturbance observer to estimate the tire friction conditions. Incorporated with active yaw moment control, the proposed method is evaluated by the experiments. The results show the proposed method can improve dynamics and keep handling stability of the EV.
Highlights
For the reason of environmental protection and energy conservation, researches about electric vehicle (EV) have been put forward greatly in recent years.In-wheel motored EV is a newly developed vehicle
The remainder of this paper is organized as follows: section 2 mentions the analysis of vehicle dynamic; section 3 discusses estimation of tire friction force; section 4 mentions dynamic force distribution; section 5 mentions the evaluation of force distribution integrated with active yaw moment control; section 6 mentions conclusions and future works
In this paper active yaw moment control is implemented with dynamic force distribution
Summary
For the reason of environmental protection and energy conservation, researches about electric vehicle (EV) have been put forward greatly in recent years. That motored wheel can be controlled independently [1] Based on this kind of configuration, it is easy to perform force control directly and realize complexity motion control without traditional power train or mechanical parts. It inevitably stimulates the researches about the “by-wire” control. The remainder of this paper is organized as follows: section 2 mentions the analysis of vehicle dynamic; section 3 discusses estimation of tire friction force; section 4 mentions dynamic force distribution; section 5 mentions the evaluation of force distribution integrated with active yaw moment control; section 6 mentions conclusions and future works
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