Abstract
Vehicles equipped with in-wheel motors (IWMs) feature advanced control functions that allow for enhanced vehicle dynamics and stability. However, these improvements occur to the detriment of ride comfort due to the increased unsprung mass. This study investigates the driving comfort enhancement in electric vehicles that can be achieved through blended control of IWMs and active suspensions (ASs). The term “ride blending”, coined in a previous authors’ work and herein retained, is proposed by analogy with the brake blending to identify the blended action of IWMs and ASs. In the present work, the superior performance of the ride blending control is demonstrated against several driving manoeuvres typically used for the evaluation of the ride quality. The effectiveness of the proposed ride blending control is confirmed by the improved key performance indexes associated with driving comfort and active safety. The simulation results refer to the comparison of the conventional sport utility vehicle (SUV) equipped with a passive suspension system and its electric version provided with ride blending control. The simulation analysis is conducted with an experimentally validated vehicle model in CarMaker® and MATLAB/Simulink co-simulation environment including high-fidelity vehicle subsystems models.
Highlights
The use of in-wheel motors (IWMs) in fully electric vehicles (EVs) brings about several benefits, such as enhanced actuator response and brake regeneration, which results in improved driving safety and motion control
The results suggest that the ride blending control leads to improved pitch comfort with no deterioration of road holding
An experimentally validated model of sport utility vehicle (SUV) with four IWMs has been used in the proprietary vehicle dynamics simulator IPG CarMaker®
Summary
The use of in-wheel motors (IWMs) in fully electric vehicles (EVs) brings about several benefits, such as enhanced actuator response and brake regeneration, which results in improved driving safety and motion control. The grey arrow5s of 14 represent the anti-roll and anti-dive/lift force generated by in-wheel motor (IWM) torque control to Fsuigpuprrees4s.thFerornotllaanndd spiidtcehvmieowtisono,frethspe eecxtipveerliym. World rEelpecrterisceVnethitchleeJoaunrtni-arlo2l0l1a9,n1d0,a3n6ti-dive/lift force generated by in-wheel motor (IWM) torque control to of 13 suppress the roll and pitch motion, respectively. While braking/accelerating or negotiating a turn, the vehicle is subject to a mass transfer that leads to a variation in the vertical load acting on a wheel This leads to vehicle pitch and roll and, as a result, the vehicle driving comfort decreases. By controlling the magnitude of the motor torque provided to each wheel, the anti-dive/lift force can be used for pitch motion suppression. Corner Controller The corner controller employs the information of body pitch angle θ , roll angle φ , and
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