• Transactions of the Korean Society of Automotive Engineers
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• v.22 no.2
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• pp.76-82
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• 2014

In this paper, an optimal power distribution algorithm is proposed for the small electric vehicle with front in-line and rear in-wheel motors. First, it is assumed that the vehicle driving torque and velocity are given conditions. And, an optimal problem is defined that finding the front and rear motor torques which minimizes the battery power. From the above optimization problem, the optimized front-rear motor torque distribution map is obtained. And, the vehicle simulations are performed to verify the performance of the optimal power distribution algorithm which is proposed in this study. The simulations are performed based on the federal urban driving schedule for two cases which are constant ratio power distribution, and optimal power distribution. From the simulation results, it is found that the optimal power distribution shows the 6.3% smaller battery energy consumption than the constant ratio power distribution.

• The Journal of Korea Institute of Information, Electronics, and Communication Technology
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• v.17 no.5
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• pp.302-312
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• 2024

In this paper, I proposed an independent control system for a driving motor that directly connects and controls two motors to the rear driving wheel. Typical electric vehicles have used differential gears to distribute and transmit the output from one driving motor to each rear wheel. However, the differential gear is one of the very heavy parts in the electric vehicle, and causes a lot of power loss in the process of transmitting power. Therefore, I want to install two motors to control each wheel directly and remove the differential gears. Each rear wheel is independently controlled by two motors to suit the driving situation of the vehicle. When the vehicle is going straight, the controller synchronizes the rotational speed of the two wheels to make the vehicle go straight, and when the vehicle is turning, the vehicle can rotate by varying the rotational speed of each rear wheel according to the steering angle and driving speed of the vehicle. And since each rear wheel is controlled independently, it is expected that it can be controlled to perform the function of the limited slip differential through a program in a situation where the gripping force of one driving wheel decreases.

• The Journal of Korea Robotics Society
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• v.18 no.3
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• pp.299-307
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• 2023

In the midst of accelerating wars around the world, unmanned robot technology that can guarantee the safety of human life is emerging. ERP-42 is a modular platform that can be used according to the application. In the field of defense, it can be used for transporting supplies, reconnaissance and surveillance, and medical evacuation in conflict areas. Due to the nature of the military environment, atypical environments are predominant, and in such environments, the platform's path followability is an important part of mission performance. This paper focuses on reducing the minimum turning radius in terms of improving path followability. The minimum turning radius of the existing 2WS/2WD in-wheel platform was reduced by increasing the torque of the independent driving in-wheel motor on the rear wheel to generate oversteer. To determine the degree of oversteer, two GPS were attached to the center of the front and rear wheelbases and measured. A closed-loop speed control method was used to maintain a constant rotational speed of each wheel despite changes in load or torque.

• Transactions of the Korean Society of Automotive Engineers
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• v.24 no.3
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• pp.294-301
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• 2016

This paper discusses about analyzing in-wheel vehicle's dynamic motion and load torque. Since in-wheel vehicle controls each left and right driving wheels, it is dangerous if vehicle's wheels are not in a cooperative control. First, this study builds the main wheel control logic using PID control theory and evaluates the stability. Using Carsim-Matlab/Simulink, vehicle dynamic motion is simulated in virtual 3D driving road. Through this, in-wheel vehicle's driving performance can be analyzed. The target vehicle is a rear-wheel drive in D-class sedan. Second, by using the first In-wheel vehicle's performance results, it derivate the drive motor's dynamic load torque for applying the dynamometer. Extracted load torque impute to dynamometer's load motor, linear experiment in dynamometer can replicated the 3-D road driving status. Also it, will be able to evaluate the more accurate performance analysis and stability, as a previous step of actual vehicle experiment.

• Journal of Korea Society of Industrial Information Systems
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• v.28 no.4
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• pp.35-43
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• 2023

In next-generation electric vehicles, research is being conducted on an in-wheel motor system that directly controls torque by each wheel to improve total cost and driving performance. Accordingly, in this paper, a study was conducted on an algorithm that distributes the torque applied to each wheel in a torque vectoring system applied to an in-wheel motor for driving an electric vehicle. In order to implement a vehicle model that applies actual vehicle characteristic parameters according to vehicle driving and steering, a simulation was conducted in the MATLAB Simulink environment, and it was confirmed that torque distribution was performed according to the proposed algorithm.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.1
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• pp.45-55
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• 2013

With the recent advancement of control method and battery technology, the electric vehicle have been researched to replace the conventional vehicle with electric vehicle with the view point of the environmental concerns and energy conservation. An electric vehicle which is equipped with the independent front steering system and in-wheel motors has advantage in terms of control. For example, the different torque which generated by left and right wheels directly can make yaw moment and the independent steering using outer wheel control is able to reduce the sideslip angle. Using of independent steering and driving system, the 4 wheel electric vehicle can improve a performance better than conventional vehicle. In this paper, we consider the method for improving the cornering performance of independent front steering system and in-wheel motor used electric vehicle with the compensated outer wheel angle and direct yaw moment control. Simulation results show that the method can improve the cornering performance of 4 wheel electric vehicle. We also apply the steering motor failure to steer the vehicle turned by the torque difference without steering. This paper describes an independent front steering and driving, consist of three parts; Vehicle Model, Control Algorithm for independent steering and driving and simulation. First, vehicle model is application of TruckSim software for independent front steering and 4 wheel driving. Second, control algorithm describes the reduced sideslip and direct yaw moment method in view of cornering performance. Last is simulation and verification.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.60 no.2
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• pp.309-314
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• 2011

Outer rotor type in-wheel switched reluctance motor for Welfare neighborhood electric vehicle is researched. In-wheel system is to drive the electric vehicle without mechanical transmission, shaft, differential gears or other mechanical system. To calculate drive power for each wheels, the elder's and disable's safety driving conditions are considered. The designed outer rotor SRM has a 6-stator and 8-rotor pole. The determined dimensions as well as the stator and rotor pole arc are simulated and tested with CAD and finite element analysis to verify the performance of the proposed motor.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2011.04a
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• pp.206-211
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• 2011

In this paper, a control algorithm for the improvement of yaw and velocity stability of electrical vehicle with two or four in-wheel motors is proposed. The vehicle is modeled with independently operative in-wheel motor wheels. Different frictions on the wheels are regarded as disturbances, which causes driving instability. In this situation the proposed algorithm enables stabilizing the yaw motion and velocity of vehicle simultaneously. The proposed PID controller is composed with two techniques, which enhance the disturbance reject and point tracking performances. One is nonlinear gain function and the other one is improved integral controller operating as time based weight function. Simulation is conducted to reveal its efficient performance.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.66 no.12
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• pp.1866-1872
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• 2017

This paper presents the design of in-wheel type Switched Reluctance Motor (SRM) which can be used as both traction motor and power pickup device in a wireless charging system of electric vehicles. The SRM acts as a traction drive in driving mode and a power receiver in charging mode to avoid any additional weights. Double stator axial field SRM is used due to its structure that can be mounted inside the wheel. The charging circuit is integrated with the asymmetric converter and phase windings of SRM, reducing the cost and size of the system. Magnetic resonance is implemented to increase the efficiency. Simulations done in Maxwell and Simplorer verify the effectiveness of the proposed system.

• Transactions of the Korean Society of Automotive Engineers
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• v.22 no.5
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• pp.29-34
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• 2014

Cooling the in-wheel motor in electric vehicles is critical to its performance and durability. In this study, thermal flow analysis was conducted by evaluating the thermal performance of two conventional cooling models for in-wheel motors under the continuous rating base speed condition. For conventional model #1, in which cooling oil was stagnant in the lower end of the motor, the maximum temperature of the coil was $221.7^{\circ}C$; for conventional model #2, in which cooling oil was circulated through the exit and entrance of the housing and jig, the maximum temperature of the coil was $155.4^{\circ}C$. Therefore, both models proved unsuitable for in-wheel motors since the motor control specifications limited the maximum temperature to $150^{\circ}C$.