Torque blending and wheel slip control in EVs with in-wheel motors

• Type: Article in International Scientific Journal
• Date: 2012

Authors

Ricardo de Castro (Author) Other; Rui E. Araújo (Author) FEUP; Mara Tanelli (Author) Other; Sergio M. Savaresi (Author) Other; Diamantino Freitas (Author) FEUP

Journal

Title: Vehicle System Dynamics

Vol. 50 No. 1

Pages: 71-94

ISSN: 0042-3114

Publisher: Taylor & Francis

Indexing

ISI Web of Knowledge - 73 Citations

ISI Web of Science

Scopus - 98 Citations

INSPEC

Scientific classification

FOS: Engineering and technology > Mechanical engineering

CORDIS: Technological sciences > Engineering > Control engineering ; Technological sciences > Engineering > Electrical engineering ; Technological sciences > Technology > Energy technology > Electric vehicles

Other information

Authenticus ID: P-002-G28

DOI: 10.1080/00423114.2012.666357

Abstract (EN): Among the many opportunities offered by electric vehicles (EVs), the design of power trains based on in-wheel electric motors represents, from the vehicle dynamics point of view, a very attractive prospect, mainly due to the torque-vectoring capabilities. However, this distributed propulsion also poses some practical challenges, owing to the constraints arising from motor installation in a confined space, to the increased unsprung mass weight and to the integration of the electric motor with the friction brakes. This last issue is the main theme of this work, which, in particular, focuses on the design of the anti-lock braking system (ABS). The proposed structure for the ABS is composed of a tyre slip controller, a wheel torque allocator and a braking supervisor. To address the slip regulation problem, an adaptive controller is devised, offering robustness to uncertainties in the tyre-road friction and featuring a gain-scheduling mechanism based on the vehicle velocity. Further, an optimisation framework is employed in the torque allocator to determine the optimal split between electric and friction brake torque based on energy performance metrics, actuator constraints and different actuators bandwidth. Finally, based on the EV working condition, the priorities of this allocation scheme are adapted by the braking supervisor unit. Simulation results obtained with the CarSim vehicle model, demonstrate the effectiveness of the overall approach.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 24