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Author(s): Ricardo de Castro
Rui E. Araújo
Mara Tanelli
Sergio M. Savaresi
Diamantino Freitas
Title: Torque blending and wheel slip control in EVs with in-wheel motors
Issue Date: 2012
Abstract: 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 gain-scheduling 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.
Subject: Engenharia de controlo, Veículos eléctricos, Engenharia electrotécnica, Engenharia mecânica
Control engineering, Electric vehicles, Electrical engineering, Mechanical engineering
Scientific areas: Ciências da engenharia e tecnologias::Engenharia mecânica
Engineering and technology::Mechanical engineering
Document Type: Artigo em Revista Científica Internacional
Rights: restrictedAccess
Appears in Collections:FEUP - Artigo em Revista Científica Internacional

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