Abstract
Electric Vehicles (EVs) are becoming an inimitable answer to the problem of transport sector pollution. The inherent potential of individual wheels’ control makes in-wheel-drive EVs even more advantageous. This paper investigates the dynamics control of a laterally off-centre CG (Centre of Gravity) electric vehicle as a real-world practice, nevertheless ignored. Apart from dynamic performance, tires’ loss as a representative of their wear and hence TWP (Tire Wear Particle) emission is analysed. In this regard, mathematical modelling of an eight-degree-of-freedom electric vehicle with eccentric CG is pioneered. The model is used to develop a novel control strategy which calculates torque distributions for the front-left and right in-wheel motors. The ideal torque distribution satisfies the torque demand as well as perfect reference yaw rate tracking. Simulation results for two straight and cornering scenarios reveal that while almost removing path-following error, a properly designed torque distribution controller could potentially cancel up to nearly 5% of tires’ wear compared to three other rival strategies.
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