Search tips
 This content is not included in your SAE MOBILUS subscription, or you are not logged in.

Optimal Torque Control for an Electric-Drive Vehicle with In-Wheel Motors: Implementation and Experiments

Journal Article
2013-01-0674
ISSN: 1946-391X, e-ISSN: 1946-3928
DOI: https://doi.org/10.4271/2013-01-0674
Published April 08, 2013 by SAE International in United States
Optimal Torque Control for an Electric-Drive Vehicle with In-Wheel Motors: Implementation and Experiments
Sector:
Citation: Athari, A., Fallah, S., Li, B., Khajepour, A. et al., "Optimal Torque Control for an Electric-Drive Vehicle with In-Wheel Motors: Implementation and Experiments," SAE Int. J. Commer. Veh. 6(1):82-92, 2013, https://doi.org/10.4271/2013-01-0674.
Language: English

Abstract:

This paper presents the implementation of an off-line optimized torque vectoring controller on an electric-drive vehicle with four in-wheel motors for driver assistance and handling performance enhancement. The controller takes vehicle longitudinal, lateral, and yaw acceleration signals as feedback using the concept of state-derivative feedback control. The objective of the controller is to optimally control the vehicle motion according to the driver commands. Reference signals are first calculated using a driver command interpreter to accurately interpret what the driver intends for the vehicle motion. The controller then adjusts the braking/throttle outputs based on discrepancy between the vehicle response and the interpreter command. A test vehicle equipped with four in-wheel electric motors, vehicle sensors, communication buses, and dSPACE rapid prototyping hardware is instrumented and the control performance is verified through vehicle handling tests under different driving conditions.

Recommended Content

Journal Article Instantaneous Estimation of Road Friction based on Front Tire SAT using Kalman Filter
Journal Article Simulating the Mobility of Wheeled Ground Vehicles with Mercury