Traction Control and Total Driving Force Distribution Strategy for Electric Vehicles with Four in Wheel Motors based on PD-Fuzzy Control

Abstract

In this paper, a torque distribution control for electric vehicles with an in-wheel motor installed for each wheel is proposed in order to manage the traction operation of the vehicle and avoid slip ratio from reach extreme values while the vehicle moves into slippery surfaces. The driving force control is the main controller in the proposed control system and its consist from two control loop. PD-Fuzzy logic and PI-control are applied as a wheel speed controller in the inner control loop with the aim of improving stability and support the traction operation of the wheels. To retain the total requested driving force, force distribution strategies are obtained when the vehicle moves on the road with a low friction coefficient surface. Also, it works as a yaw moment suppressor when the vehicle runs into split slippery surfaces which improves vehicle performance. The proposed vehicle dynamics and torque distribution control system are simulated using Simulink-MATLAB Program. The results of the simulation demonstrated the effectiveness of the proposed method.