Among the many opportunities offered by electric vehicles (EVs), the design of power trains based on in-wheel electric motors represents, from the vehicle dynamics point of view, a very attractive prospect, mainly due to the torque-vectoring capabilities. However, this distributed propulsion also poses some practical challenges, owing to the constraints arising from motor installation in a confined space, to the increased unsprung mass weight and to the integration of the electric motor with the friction brakes. This last issue is the main theme of this work, which, in particular, focuses on the design of the anti-lock braking system (ABS). The proposed structure for the ABS is composed of a tyre slip controller, a wheel torque allocator and a braking supervisor. To address the slip regulation problem, an adaptive controller is devised, offering robustness to uncertainties in the tyre-road friction and featuring a gainscheduling mechanism based on the vehicle velocity. Further, an optimisation framework is employed in the torque allocator to determine the optimal split between electric and friction brake torque based on energy performance metrics, actuator constraints and different actuators bandwidth. Finally, based on the EV working condition, the priorities of this allocation scheme are adapted by the braking supervisor unit. Simulation results obtained with the CarSim vehicle model, demonstrate the effectiveness of the overall approach.


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    Titel :

    Torque blending and wheel slip control in EVs with in-wheel motors


    Beteiligte:


    Erscheinungsdatum :

    2012


    Format / Umfang :

    24 Seiten, 13 Bilder, 1 Tabelle, 41 Quellen




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Print


    Sprache :

    Englisch




    Torque blending and wheel slip control in EVs with in-wheel motors

    de Castro, Ricardo / Araújo, Rui E. / Tanelli, Mara et al. | Taylor & Francis Verlag | 2012



    Torque blending and wheel slip control in electric vehicles with in-wheel motors.

    de Castro,R. / Araujo,R.E. / Tanelli,M. et al. | Kraftfahrwesen | 2012


    Combined wheel-slip control and torque blending using MPC

    Satzger, Clemens / de Castro, Ricardo | IEEE | 2014


    Wheel slip control with torque blending using linear and nonlinear model predictive control

    Basrah, M. Sofian / Siampis, Efstathios / Velenis, Efstathios et al. | Taylor & Francis Verlag | 2017