Skip to main content
SpringerLink
Log in

Dynamics characteristics analysis and control of FWID EV

  • Published:
International Journal of Automotive Technology Aims and scope Submit manuscript

Abstract

Compared with internal combustion engine (ICE) vehicles, four-wheel-independently-drive electric vehicles (FWID EV) have significant advantages, such as more controlled degree of freedom (DOF), higher energy efficiency and faster torque response of an electric motor. The influence of these advantages and other characteristics on vehicle dynamics control need to be evaluated in detail. This paper firstly analyzed the dynamics characteristics of FWID EV, including the feasible region of vehicle global force, the improvement of powertrain energy efficiency and the time-delays of electric motor torque in the direct yaw moment feedback control system. In this way, the influence of electric motor output power limit, road friction coefficient and the wheel torque response on the stability control, as well as the impact of motor idle loss on the torque distribution method were illustrated clearly. Then a vehicle dynamics control method based on the vehicle stability state was proposed. In normal driving condition, the powertrain energy efficiency can be improved by torque distribution between front and rear wheels. In extreme driving condition, the electric motors combined with the electro-hydraulic braking system were employed as actuators for direct yaw moment control. Simulation results show that dynamics control which take full advantages of the more controlled freedom and the motor torque response characteristics improve the vehicle stability better than the control based on the hydraulic braking system of conventional vehicle. Furthermore, some road tests in a real vehicle were conducted to evaluate the performance of proposed control method.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

References

  • Chen, Y. and Wang, J. (2011). Fast and global optimal energy-efficient control allocation with applications to over-actuated electric ground vehicles. IEEE Trans. Control Systems Technology 20, 5, 1202–1211.

    Article  Google Scholar 

  • Chen, Y. and Wang, J. (2014). Design and experimental evaluations on energy efficient control allocation methods for overactuated electric vehicles: Longitudinal motion case. IEEE/ASME Trans. Mechatronics 19, 2, 538–548.

    Article  MathSciNet  Google Scholar 

  • Dizqah, A. M., Lenzo, B., Sorniotti, A., Gruber, P., Fallah, S. and Smet, D. (2016). A fast and parametric torque distribution strategy for four-wheel-drive energy-efficient electric vehicles. IEEE Trans. Industrial Electronics 63, 7, 4367–4376.

    Article  Google Scholar 

  • Emırler, M. T., Kahraman, K., Şentürk, M., Acar, O. U., Güvenç Aksun, B., Güvenç, L. and Efendıoğlu, B. (2015). Lateral stability control of fully electric vehicles. Int. J. Automotive Technology 16, 2, 317–328.

    Article  Google Scholar 

  • Hac, A. and Simpson, M. (2000). Estimation of vehicle sideslip angle and yaw rate. SAE Paper No. 2000-01-0696.

    Google Scholar 

  • Hori, Y. (2004). Future vehicle driven by electricity and control-research on four wheel motored “UOT Electric March II”. IEEE Trans. Industrial Electronics 51, 5, 954–962.

    Article  Google Scholar 

  • Hu, J. S., Wang, Y., Fujimoto, H. and Hori, Y. (2017). Robust yaw stability control for in-wheel motor electric vehicles. IEEE/ASME Trans. Mechatronics 22, 3, 1360–1370.

    Article  Google Scholar 

  • Ivanov, V., Savitski, D., Augsburg, K., Barber, P., Knauder, B. and Zehetner, J. (2015). Wheel slip control for allwheel drive electric vehicle with compensation of road disturbances. J. Terramechanics, 61, 1–10.

    Article  Google Scholar 

  • Johansen, T. A. and Fossen, T. I. (2013). Control allocation–A survey. Automatica 49, 5, 1087–1103.

    Article  MathSciNet  MATH  Google Scholar 

  • Jonasson, M., Andreasson, J., Jacobson, B. and Trigell, A. S. (2010). Global force potential of over-actuated vehicles. Vehicle System Dynamics, Int. J. Vehicle Mechanics and Mobility 48, 9, 983–998.

    Article  Google Scholar 

  • Jonasson, M., Andreasson, J., Solyom, S., Jacobson, B. and Trigell, A. S. (2011). Utilization of actuators to improve vehicle stability at the limit: From hydraulic brakes toward electric propulsion. J. Dynamic Systems, Measurement, and Control 133, 5, 502–506.

    Article  Google Scholar 

  • Sawase, K. and Ushiroda, Y. (2008). Improvement of vehicle dynamics by right-and-left torque vectoring system in various drivetrains. Mitsubishi Technical Review 2008, 2, 14–20.

    Google Scholar 

  • Keiji, I. (1989). Effects on cornering characteristics by driven-force control. J. Society of Automotive Engineers of Japan 43, 4, 67–73.

    Google Scholar 

  • Keiji, I. (1990). Technical trends of driving-force control technology. J. Society of Automotive Engineers of Japan 44, 1, 76–84.

    Google Scholar 

  • Kim, H., Lee, S. and Hedrick, J. K. (2015). Active yaw control for handling performance improvement by using traction force. Int. J. Automotive Technology 16, 3, 457–464.

    Article  Google Scholar 

  • Kim, W., Yi, K. and Lee, J. (2012). An optimal traction, braking, and steering coordination strategy for stability and manoeuvrability of a six-wheel drive and six-wheel steer vehicle. Proc. Institution of Mechanical Engineers, Part D: J. Automobile Engineering 226, 1, 3–22.

    Google Scholar 

  • Klomp, M. (2011). Longitudinal force distribution using quadratically constrained linear programming. Vehicle System Dynamics, Int. J. Vehicle Mechanics and Mobility 49, 12, 1823–1836.

    Article  Google Scholar 

  • Ko, S., Song, C. and Kim, H. (2016). Cooperative control of the motor and the electric booster brake to improve the stability of an in-wheel electric vehicle. Int. J. Automotive Technology 17, 3, 447–456.

    Article  Google Scholar 

  • Lin, C. and Xu, Z. (2015). Wheel torque distribution of four-wheel-drive electric vehicles based on multiobjective optimization. Energies 8, 5, 3815–3831.

    Article  MathSciNet  Google Scholar 

  • Lu, D., Gu, J., Li, J., Ouyang, M. and Ma, Y. (2009). Highperformance control of PMSM based on a new forecast algorithm with only low-resolution position sensor. Vehicle Power and Propulsion Conf., IEEE, 1440–1444.

    Google Scholar 

  • Lv, C., Zhang, J., Li, Y., Sun, D. and Yuan, Y. (2014). Hardware-in-the-loop simulation of pressure-differencelimiting modulation of the hydraulic brake for regenerative braking control of electric vehicles. Proc. Institution of Mechanical Engineers, Part D: J. Automobile Engineering 228, 6, 649–662.

    Article  Google Scholar 

  • Lv, C., Zhang, J., Li, Y. and Yuan, Y. (2015). Mechanism analysis and evaluation methodology of regenerative braking contribution to energy efficiency improvement of electrified vehicles. Energy Conversion and Management, 92, 469–482.

    Article  Google Scholar 

  • Lv, C., Wang, H. and Cao, D. (2017). High-precision hydraulic pressure control based on linear pressure-drop modulation in valve critical equilibrium state. IEEE Trans. Industrial Electronics, 99, 1.

    Article  Google Scholar 

  • NHTSA (2007). Electronic Stability Control Systems. Federal Motor Vehicle Safety Standard 126.

    Google Scholar 

  • Novellis, L. D., Sorniotti, A. and Gruber, P. (2014). Wheel torque distribution criteria for electric vehicles with torque-vectoring differentials. IEEE Trans. Vehicular Technology 63, 4, 1593–1602.

    Article  Google Scholar 

  • Ogata, K. (2009). Modern Control Engineering. 5th edn. Pearson Custom Publishing. Boston, USA.

    MATH  Google Scholar 

  • Park, J., Jeong, H., Jang, I. and Hwang, S. H. (2015). Torque distribution algorithm for an independently driven electric vehicle using a fuzzy control method. Energies 8, 8, 8537–8561.

    Article  Google Scholar 

  • Phanomchoeng, G., Rajamani, R. and Piyabongkarn, D. (2011). Nonlinear observer for bounded jacobian systems, with applications to automotive slip angle estimation. IEEE Trans. Automatic Control 56, 5, 1163–1170.

    Article  MathSciNet  MATH  Google Scholar 

  • Piyabongkarn, D., Rajamani, R., Grogg, J. A. and Lew, J. Y. (2009). Development and experimental evaluation of a slip angle estimator for vehicle stability control. IEEE Trans. Control Systems Technology 17, 1, 78–88.

    Article  Google Scholar 

  • Shuai, Z., Zhang, H., Wang, J., Li, J. and Ouyang, M. (2014). Lateral motion control for four-wheel-independent-drive electric vehicles using optimal torque allocation and dynamic message priority scheduling. Control Engineering Practice, 24, 55–66.

    Article  Google Scholar 

  • Wang, Y., Nguyen, B. M., Fujimoto, H. and Hori, Y. (2014). Multirate estimation and control of body slip angle for electric vehicles based on onboard vision system. IEEE Trans. Industrial Electronics 61, 2, 1133–1143.

    Article  Google Scholar 

  • Wu, D., Ding, H., Guo, K. and Wang, Z. (2014). Experimental research on the pressure following control of electro-hydraulic braking system. SAE Paper No. 2014-01-0848.

    Book  Google Scholar 

  • Xiong, L., Teng, G. W., Yu, Z. P., Zhang, W. X. and Feng, Y. (2016). Novel stability control strategy for distributed drive electric vehicle based on driver operation intention. Int. J. Automotive Technology 17, 4, 651–663.

    Article  Google Scholar 

  • Yim, S. (2017). Coordinated control of ESC and AFS with adaptive algorithms. Int. J. Automotive Technology 18, 2, 271–277.

    Article  Google Scholar 

  • Yin, D. and Hu, J. S. (2014). Active approach to electronic stability control for front-wheel drive in-wheel motor electric vehicles. Int. J. Automotive Technology 15, 6, 979–987.

    Article  Google Scholar 

  • Yin, G., Wang, R. and Wang, J. (2015). Robust control for four wheel independently-actuated electric ground vehicles by external yaw-moment generation. Int. J. Automotive Technology 16, 5, 839–847.

    Article  Google Scholar 

  • Yoon, J. H. and Peng, H. (2014). A cost-effective sideslip estimation method using velocity measurements from two GPS receivers. IEEE Trans. Vehicular Technology 63, 6, 2589–2599.

    Article  Google Scholar 

  • Yu, N. and Gong, Y. M. (2008). High dynamic performance speed control strategy of high density IPMSM for HEV application. Intelligent Control and Automation, 7th World Cong., 1588–1593.

    Google Scholar 

  • Yu, Z., Yang, P. and Xiong, L. (2014). Application of control allocation in distributed drive electric vehicle. J. Mechanical Engineering, 18, 99–107.

    Article  Google Scholar 

  • Zhao, H., Ren, B., Chen, H. and Deng, W. (2015). Model predictive control allocation for stability improvement of four-wheel drive electric vehicles in critical driving condition. IET Control Theory & Applications 9, 18, 2688–2696.

    Article  MathSciNet  Google Scholar 

Download references

Author information

Authors and Affiliations

  1. State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun, 130033, China

    Dongmei Wu & Haitao Ding

  2. Hubei Key Laboratory of Advanced Technology of Automotive Components, Wuhan University of Technology, Wuhan, 430070, China

    Dongmei Wu & Changqing Du

  3. Hubei Collaborative Innovation Center for Automotive Components Technology, Wuhan University of Technology, Wuhan, 430070, China

    Dongmei Wu & Changqing Du

Authors
  1. Dongmei Wu
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Haitao Ding
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Changqing Du
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Haitao Ding.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Wu, D., Ding, H. & Du, C. Dynamics characteristics analysis and control of FWID EV. Int.J Automot. Technol. 19, 135–146 (2018). https://doi.org/10.1007/s12239-018-0013-4

Download citation

  • Received:

  • Revised:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s12239-018-0013-4

Keywords

Search

Navigation