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The properties of contact patch are key factors for tire modeling. Researchers have paid more attention to the contact patch shape and vertical pressure distribution. Some innovative concepts, such as Local Carcass Camber, have been presented to explain special tire modeling phenomena. For a pragmatic tire model, a concise model structure and fewer parameters are considered as the primary tasks for the modeling. Many empirical tire models, such as the well-known Magic Formula model, would become more complex to achieve satisfactory modeling accuracy, due to increasing number of input variables, so the semi-empirical or semi-physical modeling method becomes more attractive. In this paper, the concept of Tire Carcass Camber is introduced first. Different from Local Carcass Camber, Tire Carcass Camber is an imaginary camber angle caused only by lateral force on the unloaded tire.

This paper presents a torque distribution algorithm to improve the energy efficiency of four-wheel-drive (4WD) electric vehicles with PMSM hub motors. In order to optimize the torque distribution method, at first the motor model considering the affect of iron loss and the loss model of multi-motors drive system of 4WD electric vehicle with PMSM hub motors, which operate at straight-line condition, are established. Besides, realize the online identification of motor parameters based on the MARS, which is important for updating the loss model parameters of the motor drive system. By doing this, the ideal torque distribution ratio can be obtained from the loss model in real-time. The simulation result using different distribution algorithms shows that the optimized torque distribution algorithm based on the loss model can be useful for improving the energy efficiency.

A novel predictable tire model has been proposed for combined braking and cornering forces, which is based on only a few pure baking and pure cornering tests. It avoids elaborate testing of all kinds of combinations of braking and side forces, which are always expensive and time consuming. It is especially important for truck or other large size tires due to the capability constraints of tire testing facilities for combined shear forces tests. In this paper, the predictive model is based on the concept of slip circle and state stiffness method. The slip circle concept has been used in the COMBINATOR model to obtain the magnitude of the resultant force under combined slip conditions; however the direction assumption used in the COMBINATOR is not suitable for anisotropic tire slip stiffness.

For high torque permanent magnet wheel motor, this paper describes an experimental research method to optimize and identify the motor parameters based on the results of offline calculation. In order to improve the accuracy of motor parameters identification, the motor model considering the affect of iron loss was established, and the motor parameters were identified using genetic algorithm (GA). Based on this, parameters validation experiment was performed. The results show that: parameters obtained by this method can be used to describe the steady-state and transient-state response of permanent magnet synchronous motors accurately.

This paper presents an ideal force distribution control method for the electric vehicle, which is equipped with four independently in-wheel motors, in order to improve the lateral stability of the vehicle. According to the friction circle of tyre force, the ideal distribution control method can be obtained to make the front and rear wheels reach the adhesion limit at the same time in different conditions. Based on this, the force re-distributed control is applied to enhance the security of vehicle when the in-wheel motor is in the failure mode. The simulation result shows that: the force distributed method can not only improves the lateral stability of the vehicle but also enhances the vehicle safety.

Tire lag property is a basic property of tire dynamics, and it has significant influence on the performance of vehicle dynamics. In distance domain, the side force and moments produced by a massless tire are basically displacement or path frequency dependent, rather than time dependent. In the paper, on the basis of the stretched-string model, the first-order filtering of deflection for the front point of the contact print and the first-order filtering of side force have been introduced. Tire system can be regarded as a first-order linear system under small slip angle. The force response of tire has the characteristics of the responses of first-order linear system under small angle. The relaxation length is an important parameter in studying tire lag property. It decreases with increasing slip angle. It plays an important role in the study of tire transient properties.

In this paper, the predictive control strategy is employed to improve the current tracking performance of hub motor in 4WD electric vehicle due to its fast dynamic response. But the performance of the conventional predictive deadbeat current control suffers greatly from the parameter variations and other disturbances. Toward this, this paper presents a new predictive control strategy for hub motor; this control scheme combines an improved predictive control law with a state-observer to estimate the future motor currents and system disturbances based on a decoupled model. It provides a decoupled control of hub motor and offers stability against the variations in motor inductance and robustness against system uncertainties. The feasibility and validity of the proposed predictive current control strategy is verified through the simulation results.