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Design of an Advanced Traction Controller for an Electric Vehicle Equipped with Four Direct Driven In-Wheel Motors
ISSN: 1946-4614, e-ISSN: 1946-4622
Published April 14, 2008 by SAE International in United States
Citation: Jalali, K., Bode, K., Lambert, S., and McPhee, J., "Design of an Advanced Traction Controller for an Electric Vehicle Equipped with Four Direct Driven In-Wheel Motors," SAE Int. J. Passeng. Cars - Electron. Electr. Syst. 1(1):211-219, 2009, https://doi.org/10.4271/2008-01-0589.
The vision for the future automotive chassis is to interconnect the lateral, longitudinal, and vertical dynamics by separately controlling driving, braking, steering, and damping of each individual wheel. A major advantage of all wheel drive electric vehicles with four in-wheel motors is the possibility to control the torque and speed at each wheel independently. This paper proposes a traction controller for such a vehicle. It estimates the road's adhesion potential at each wheel and adjusts each motor voltage, such that the longitudinal slip is kept in an optimal range. For development and validation, a full vehicle model is designed in ADAMS/View software, in co-simulation with motor and control elements, modeled in MATLAB/Simulink.