Modeling and control of a half electric vehicle including an inverter, an in-wheel BLDC motor and Pacejka's tire model

Abstract

The problem of modeling the longitudinal motion of an Electric Vehicle (EV) or Hybrid Electric Vehicle (HEV) propelled by In-Wheel motor is considered. A complete non-linear model of the vehicle propelled by brushless DC (BLDC) in-wheel motor is presented. The model describes the association of the inverter, BLDC in-wheel motor and the chassis of the vehicle. It describes the behavior of the vehicle in the different driving phases, i.e. acceleration mode and deceleration mode. The relevant fundamental laws are used to model the chassis dynamics taking into account the different non-linear aspects such as aerodynamic effects, rolling resistance and road load. The Pacejka tire model is retained to describe the various phenomena generated at the wheel-road contact. It is shown that the proposed model describes correctly the longitudinal behavior of the vehicle in the acceleration and deceleration modes in different driving conditions.