Optimal Torque Control for an Electric-Drive Vehicle with In-Wheel Motors: Implementation and Experiments
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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.
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Abtin Athari, Saber Fallah, Bin Li, Amir Khajepour, Shih-Ken Chen, Baktiar Litkouhi (2013). Optimal Torque Control for an Electric-Drive Vehicle with In-Wheel Motors: Implementation and Experiments. UWSpace. http://hdl.handle.net/10012/11563