Study on Maneuverability Control of Four In-Wheel Motor Electric Vehicle

Abstract

This paper mainly studies the improvement of the maneuverability of four In-wheel motor Drive (4IWD) electric vehicle by torque vector control (TVC) under normal working conditions. A TVC algorithm is proposed based on the theory of feed-forward control and feedback control. It includes four control modules: the calculation of the vehicle state parameters and variables, the design of vehicle steering characteristic, the control of additional yaw moment and the allocation method of drive torque. The control method of additional yaw moment and the control method of allocation method of 4IWD are emphatically studied. The TVC algorithm is verified by using simulation experiments where the 4IWD electric vehicle model is established based on CarSim and Simulink joint simulation method. Results show that maximum value of the yaw rate, lateral acceleration and sideslip angle with TVC are 35%, 23.79%, 54.87% lower than that without TVC, respectively. It means that the maneuverability of the 4IWD under normal working conditions can be enhanced effectively by the proposed TVC algorithm.