Longitudinal Control of Electric Vehicle Driven by an In-Wheel BLDC Motor Including the Pacejka Tire Model

Abstract

This paper presents a linear control of the longitudinal motion of the Electric Vehicle (EV) or Hybrid Electric Vehicle (HEV) driven by in wheel BLDC (Brushless Direct Current) motor. The interaction between the tire and the road surface is taken into account in the vehicle model. Pacejka's tire model is used to capture the effects produced between the tire and the road surface. A linear cascade regulator of the vehicle is developed considering the road's effects during acceleration and deceleration phases. The linear controller achieves these objectives by ensuring a perfect regulation of the vehicle and BLDC in-wheel motor speeds.