Abstract
This study introduces an estimation process for longitudinal and lateral tire road forces, for that an electric vehicle with four in-wheel motors has been implemented. This structure permits to control independently each one wheel so that deals to torque’s control with fast response which represent the best advantage in this kind of vehicles with PMSM which take a dominant position in several systems with variable speed drive because of their, low inertia, high efficiency and no maintenance. The performance of this concept is tested and demonstrated using Matlab/Simulink. The simulation results show that the proposed approach is a promising technique to provide accurate estimations of vehicle dynamic states.
Highlights
Nowadays, the environmental problems such as global warming, exhaustion of fossil fuels and air pollution are getting serious
The motion is governed by the forces generated between the tires and the road, For example, lateral tire force is the necessary force to hold a vehicle through a turn
What happens is that when the front wheels of a vehicle are steered, a slip angle is created, which gives rise to a lateral force, this force is usually represented in function of its sideslip angle
Summary
The environmental problems such as global warming, exhaustion of fossil fuels and air pollution are getting serious. Generated torque can be measured precisely from motor current These advantages are effective for vehicle motion control. The motion is governed by the forces generated between the tires and the road, For example, lateral tire force ( known as side or cornering force) is the necessary force to hold a vehicle through a turn. The accurate and reliable information about the state of the vehicle and these forces is very important (Linhui et al, 2008), it leads to a better evaluation of the road friction and the vehicle’s possible trajectories and to a better vehicle control It makes possible the development of a diagnostic tool for evaluating the potential risks of accidents related to poor adherence or dangerous maneuvers (Huang and Wang, 2013). Performing the relevant derivatives with respect to time and introducing forces FX and FY written with reference to vehicle frame, we obtain: FX Mv (v x rvy )
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