Traction control of an electric vehicle with four in-wheel motors
This thesis evaluates an electric vehicle with four independently-controlled in-wheel electric motors. The electric vehicle investigated in this work requires a main con- troller that not only coordinates with each individual motor drive controller, but is also needed to distribute torque and power to each in-wheel motor. The controller adjusts the speed of each motor to the driving conditions according to the require- ments and emulates the behavior of a mechanical di erential. Then, in addition to the electronic di erential controller, a simple yet robust control strategy for maximiz- ing traction force between tire and road is developed and presented. Moreover, the controller continuously senses the yaw rate and prevents over- and under-steering by adjusting the torque on the right or left wheels. Simulation and experimental results validate the proposed strategy.
Electric vehicle, traction control system, TCS, in-wheel motors, electronic differential
Hajihosseinlu, Amin, et al. "Electronic differential design for a vehicle with four independently controlled in-wheel motors." Electric Vehicle Conference (IEVC), 2014 IEEE International. IEEE, 2014.