Longitudinal modelling of Electric Vehicle driven by a BLDC In-Wheel Motor based on Pacejka tire model

Abstract

This paper presents the development of two degrees of freedom vehicle dynamics model driven by an In-Wheel BLDC (Brushless Direct Current) Motor. Appropriate linear control is proposed to test and validate the model of the vehicle equipped with the In-Wheel BLDC motor. The driving wheel is subjected to a non-linear load torque resulting from the interaction produced between the tire and the road surface. The road state effects are modeled by the Pacejka model. The objectives of this paper are based on two points: the first objective is to present a model dealing with the vehicle dynamics while considering the effect of the road during acceleration and deceleration mode in the longitudinal direction. In the second objective, a linear control strategy of the vehicle In-Wheel BLDC motor is developed dealing with the longitudinal dynamics of the vehicle to test and validate the model thus developed. For security, the vehicle speed must be regulated, both in acceleration and deceleration modes, despite unpredictable changes in the road state. To this end, a linear controller is formally shown to meet its objectives i.e. perfect chassis and In-Wheel BLDC motor speeds regulation.