Search Results

Thanks to the actuation flexibility of their systems, electric vehicles with individual powertrains, including in-wheel and on-board motors, are a very popular research topic amongst various types of electrified powertrain architectures. The introduction of the individual electric powertrain provides great capacity for improvement of the vehicle’s energy efficiency and control performance. However, it also poses tremendous challenges concerning vehicle safety, due to the complex system dynamics and cooperation mechanisms between multiactuators. For an electric vehicle with independently controlled motors, because of design and manufacturing factors, the steady-state error of each motor output torque, and the flexibilities and nonlinear backlash of left and right drivetrains, can be different. This results in asymmetrical output characteristics of electric powertrain systems on the same axle.