Optimal Torque Control for an Electric-Drive Vehicle with In-Wheel Motors: Implementation and Experiments 2013-01-0674
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.
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. Download Citation
Abtin Athari, Saber Fallah, Bin Li, Amir Khajepour, Shih-Ken Chen, Baktiar Litkouhi
Univ. of Waterloo, Univ. of Surrey, General Motors Company
SAE 2013 World Congress & Exhibition
SAE International Journal of Commercial Vehicles-V122-2EJ, SAE International Journal of Commercial Vehicles-V122-2