Browse > Article
http://dx.doi.org/10.6113/JPE.2013.13.4.536

A Study on In-wheel Motor Control to Improve Vehicle Stability Using Human-in-the-Loop Simulation  

Ko, Sung-Yeon (School of Mechanical Engineering, Sungkyunkwan University)
Ko, Ji-Weon (School of Mechanical Engineering, Sungkyunkwan University)
Lee, Sang-Moon (X-By-Wire Engineering Team, Hyundai Mobis)
Cheon, Jae-Seung (X-By-Wire Engineering Team, Hyundai Mobis)
Kim, Hyun-Soo (School of Mechanical Engineering, Sungkyunkwan University)
Publication Information
Journal of Power Electronics / v.13, no.4, 2013 , pp. 536-545 More about this Journal
Abstract
In this study, an integrated motor control algorithm for an in-wheel electric vehicle is suggested. It consists of slip control that controls the in-wheel motor torque using the road friction coefficient and slip ratio; yaw rate control that controls the in-wheel motor torque according to the road friction coefficient and the yaw rate error; and velocity control that controls the vehicle velocity by a weight factor based on the road friction coefficient and the yaw rate error. A co-simulator was developed, which combined the vehicle performance simulator based on MATLAB/Simulink and the vehicle model of CarSim. Based on the co-simulator, a human-in-the-loop simulation environment was constructed, in which a driver can directly control the steering wheel, the accelerator pedal, and the brake pedal in real time. The performance of the integrated motor control algorithm for the in-wheel electric vehicle was evaluated through human-in-the-loop simulations.
Keywords
Integrated control; In-wheel; Motor control;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
연도 인용수 순위
1 T. Lee and D. Kim, "Technical Trend of In-Wheel System," KSAE Journal of the Korean Society of Automotive Engineers, Vol. 31, No. 4, pp. 21-25, 2009.   과학기술학회마을
2 S. Kim, J. Jeom, and J. Cheon, "The Future of Brake Systems," KSAE Journal of the Korean Society of Automotive Engineers, Vol. 26 No. 5 (WN.132), pp. 3-10, 2004.   과학기술학회마을
3 J. Song, H. Kim, and B. Kim, "Vehicle longitudinal and lateral stability enhancement using a TCS and yaw motion controller," International Journal of Automotive Technology, Vol. 8, No. 1, pp. 49-57, 2007.   과학기술학회마을
4 Y. Hori, "Future vehicle driven by electricity and control-research on four-wheel-motored 'UOT electric march II'," IEEE Trans. Ind. Electron., Vol. 51, No. 5, pp. 954-962, Oct. 2004.   DOI   ScienceOn
5 S. Sakai, H. Sado, and Y. Hori "Motion control in an electric vehicle with 4-independently driven in-wheel motors," IEEE/ASME Trans. Mechatron., Vol. 4, No.1, pp. 9-16, Mar. 1999.   DOI   ScienceOn
6 Y. Hori, Y. Toyoda, and Y. Tsuruoka, "Traction control of electric vehicle : basic experimental results using the test EV 'UOT Electric March'," IEEE Trans. Ind. Appl., Vol. 34, No. 5, pp. 1131-1138, Sep./Oct. 1998.   DOI   ScienceOn
7 X. Liu, L. Li, and Y. Hori, "Optimal traction control for ev utilizing fast torque response of electric motor," Industrial Electronics Society, 2005. IECON 2005. 31st Annual Conference of IEEE, pp. 2614-2619, 2005.
8 M. Kamachi and K. Walters, "A research of Direct Yaw-Moment Control on Slippery road for in-wheel motor vehicle," EVS22, pp. 2122--2133, 2006.
9 S. Sakai, H. Sado, and Y. Hori, "Motion control in an electric vehicle with four independently driven in-wheel motors," IEEE/ASME Trans. Mechatron., Vol. 4, No. 1, pp. 9-16, Mar. 1999.   DOI   ScienceOn
10 D. Kim, S. Hwang, and H. Kim, "Vehicle stability enhancement of four-wheel-drive hybrid electric vehicle using rear motor control," IEEE Trans. Veh. Technol., Vol. 57, No. 2, pp. 727-735, Mar. 2008.   DOI   ScienceOn
11 F. Tahami, R. Kazemi, and S. Farhanghi, "A novel driver assist stablity system for all-wheel-drive electric vehicles," IEEE Trans. Veh. Technol., Vol. 52, No. 3, pp. 682-692, May 2003.
12 A. Nasri, A. Hazzab, and I.K Bousserhane, "Fuzzy logic speed control stability improvement of lightweight electric vehicle drive," Journal of Electrical Engineering & Technology, Vol. 5, No. 1, pp. 129-139, Jan. 2010.   DOI   ScienceOn
13 J. Kim, C. Park, S. Hwang, Y. Hori, and H. Kim, "Control algorithm for an independent motor-drive vehicle," IEEE Trans. Veh. Technol., Vol. 59, No. 7, pp. 3213-3222, Sep. 2010.   DOI   ScienceOn
14 C. Geng, L. Mostefai, M. Denai, and Y. Hori, "Direct yaw-moment control of an in-wheel_motored electric vehicle based on body slip angle fuzzy observer," IEEE Trans. Ind. Electron., Vol. 56, No. 5, pp. 1411-1419, May 2009.
15 Y. Nakao, H. Kawasaki, and D. J.Major, "Estimation of friction levels between tire and road," SAE World Congress Detroit, 2002.
16 J. Wang, L. Alexander, and R. Rajamani, "Friction estimation on highway vehicles using longitudinal measurements," Journal of Dynamic, Measurement, and Control, Vol. 126, 2004.
17 J. Lee, S. Jung, S. Heo, H. Choi, H. Kim, K. Noh, I. Park, and J. Kim, "Improvement of road friction estimation using full vehicle model," KSAE10-B0128, 2010.
18 S. Ko, J. Ko, J. Kim, S. Lee, J. Cheon, and H. Kim, "Development of road friction estimation and TCS control algorithm for in-wheel independent drive vehicle," KSAE11-A0172, 2011.
19 N. Mutoh, O. Nishida, and T. Takayanagi, "Driving torque distribution method for front-andrear- wheel-independent-drive-type electric vehicles (FRID EVs) at the time of cornering," EVS-25, 2010.