Vehicles equipped with in-wheel motors are being studied and developed as a type of electric vehicle. Since these motors are attached to the suspension, a large vertical suspension reaction force is generated during driving. Based on this mechanism, this paper describes the development of a method for independently controlling roll and pitch as well as yaw using driving force distribution control at each wheel. It also details the theoretical calculation of a method for decoupling the dynamic motions. Finally, it describes the application of these 3D dynamic motion control methods to a test vehicle and the confirmation of the performance improvement. The following conclusions can be drawn: (1) A driving force distribution method was constructed for a vehicle equipped with in-wheel motors, in which the yaw, roll, and pitch or heave are controlled independently using the reaction force of the suspension generated by driving. (2) A decoupling method was calculated that cancels out the coupled terms of each motion control so that the three planar motion controls described above have no mutual effect. The effectiveness of this method was confirmed by a full vehicle simulation. Consequently, in the construction of control logic, it is possible to independently design simple and clear control logic on the respective single planes without having to solve complex equations. (3) After adoption in a test vehicle, it was confirmed that this method could simultaneously control yaw, roll, and pitch. The test drivers also verified the improvement in dynamic performance.
Decoupled 3-D moment control by an In-wheel motor vehicle
2011
18 Seiten, 10 Bilder, 8 Quellen
Aufsatz (Konferenz)
Datenträger
Englisch
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