Abstract
A cooperative control algorithm for an in-wheel motor and an electric booster brake is proposed to improve the stability of an in-wheel electric vehicle. The in-wheel system was modeled by dividing it into motor and mechanical parts, and the electric booster brake was modeled through tests. In addition, the response characteristics of the in-wheel system and the electric booster brake were compared through a frequency response analysis. In the cooperative control, the road friction coefficient was estimated using the wheel speed, motor torque, and braking torque of each wheel, and the torque limit of the wheel to the road was determined using the estimated road friction coefficient. Based on the estimated road friction coefficient and torque limit, a cooperative algorithm to control the motor and the electric booster brake was proposed to improve the stability of the in-wheel electric vehicle. The performance of the proposed cooperative control algorithm was evaluated through a hardware-in-the-loop simulation (HILS). Furthermore, to verify the performance of the proposed cooperative control algorithm, a test environment was constructed for the anti-lock braking system (ABS) hydraulic module hardware, and the performance of the cooperative control algorithm was compared with that of the ABS by means of a HILS test.
This is a preview of subscription content, log in via an institution to check access.
Similar content being viewed by others
References
Chen, B. and Kuo, C. (2014). Electronic stability control for electric vehicle with four in-wheel motors. Int. J. Automotive Technology 15, 4, 573–580.
Dong, Z., He, P., Han, C., Qi, Z., Deng, Z. and Qiu, H. (2012). The design of anti-slip control for in-wheel motor at the limited conditions in a four in-wheel-motor drive electric vehicle. 19th Int. Conf. Mechatronics and Machine Vision in Practice (M2VIP), 526–530.
Fujiki, N., Koike, Y., Itou, Y., Suzuki, G. and Goto, S. (2011). Development of an electrically-driven intelligent brake system for EV. SAE Paper No. 2011-39-7211.
Hori, Y. (2004). Future vehicle driven by electricity and control-research on four-wheel-motored “UOT electric march II”. IEEE Trans. Ind. Electron. 51, 5, 954–962.
Jacobsen, B. (2002). Potential of electric wheel motors as new chassis actuators for vehicle maneuvering. Proc. Inst. Mech. Eng., Part D: J. Automobile Eng. 216, 8, 631–640.
Kawaguchi, H. and Kazuno, K. (2013). Ball screw drive module for electric hydraulic brake. NTN Technical Review, 81, 36–39.
Kim, J., Ko, S., Lee, G., Yeo, H., Kim, P. and Kim, H. (2011). Development of co-operative control algorithm for parallel HEV with electric booster brake during regenerative braking. IEEE Vehicle Power and Propulsion Conf., 1–5.
Kim, J., Park, C., Hwang, S., Hori, Y. and Kim, H. (2011). Control algorithm for an independent motor-drive vehicle. IEEE Trans. Vehicular Technology 59, 7, 3213–3222.
Ko, J., Kim, J., Lee, G., Byun, S., Hyun, D. and Kim, H. (2011). Development of a co-operative control algorithm during regenerative braking for a fuel cell electric vehicle. IEEE Vehicle Power and Propulsion Conf.
Ko, J., Ko, S., Son, H., Yoo, B., Cheon, J. and Kim, H. (2015a). Development of brake system and regenerative braking co-operative control algorithm for automatic transmission-based hybrid electric vehicle. IEEE Trans. Vehicular Technology 64, 2, 431–440.
Ko, J., Lee, G., Ko, S., Ahn, S., Kim, H., Choi, S., Kim, I., Jeong, J., Hyun, D. and Kim, H. (2012). Co-operative control of regenerative braking using a front electronic wedge brake and a rear electronic mechanical brake considering the road friction characteristic. SAE Paper No. 2012-01-1798.
Ko, S., Ko, J., Lee, S., Cheon, J. and Kim, H. (2013a). A study on in-wheel motor control to improve vehicle stability using human-in-the-loop simulation. J. Power Electronics 13, 4, 536–545.
Ko, S., Ko, J., Lee, S., Cheon, J. and Kim, H. (2015b). A study on road friction coefficient estimation and motor torque control for an in-wheel electric. Proc. Inst. of Mech. Eng. Part D: J. Automobile Engineering 229, 5, 611–623.
Ko, S., Song, C., Park, J., Ko, J., Yang, I. and Kim, H. (2013b). Comparison of braking performance by electrohydraulic ABS and motor torque control for in-wheel electric vehicle, EVS27, 1–6.
Lee, J., Jung, S., Heo, S., Choi, H., Kim, H., Noh, K., Park, I. and Kim, J. (2010). Improvement of road friction estimation using full vehicle model. Spring Conf. Proc., Korean Society of Automotive Engineers, 168–171.
Limpert, R. (1992). Brake Design and Safety. SAE International, Warrendale, Pennsylvania. Chapter 7.
Liu, X., Li, L., Hori., Y., Akiba, T. and Shirato, R. (2005). Optimal traction control for EV utilizing fast torque response of electric motor. IECON 2005 31st Annual Conf., IEEE, 2614–2619.
Nakao, Y., Kawasaki, H. and Major, D. (2002). Estimation of friction levels between tire and road. SAE World Cong., Detroit, USA.
Nam, K., Fujimoto, H. and Hori, Y. (2012). Lateral stability control of in-wheel-motor-driven electric vehicles based on sideslip angle estimation using lateral tire force sensors. IEEE Trans. Vehicular Technology 61, 5, 1972–1985.
Park, M., Kim, S., Yang, L. and Kim, K. (2009). Development of the control logic electronically controlled hydraulic brake system for hybrid vehicle. SAE Paper No. 2009-01-1215.
Rajamani, R., Phanomchoeng, G., Piyabongkarn, D. and Lew, J. (2012). Algorithms for real-time esimation of individual wheel tire-road friction coefficients. IEEE Trans. Mechatronics 17, 6, 1183–1195.
Rajamani, R., Piyabongkarn, D., Lew, J., Yi, K. and Phanomchoeng, G. (2010). Tire-road frcition-coefficient estimation. Control System, IEEE 30, 4, 54–69.
Sakai, S., Sado, H. and Hori, Y. (1999). Motion control in an electric vehicle with 4-independently driven in-wheel motors. IEEE/ASME Trans. Mechatronics 4, 1, 9–16.
Soga, M., Shimada, M., Sakamoto, J. and Otomo, A. (2002). Development of vehicle dynamics management system for hybrid vehicle: ECB system for improved environmental and vehicle dynamic performance. JSAE Rev. 23, 4, 459–464.
Walker, A., Lamperth, M. and Wilkins, S. (2002). On friction braking demand with regenerative braking. SAE Paper No. 2002-01-2581.
Wang, J., Alexander, L. and Rajamani, R. (2004). Friction estimation on highway vehicles using longitudinal measurements. J. Dynamic, Measurement, and Control 126, 2, 265–275.
Yeo, H., Koo, C., Jung, W., Kim, D. and Cheon, J. (2011). Development of Smart Booster Brake System for Regenerative Brake Cooperative Control. SAE Paper No. 2011-01-2356.
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
About this article
Cite this article
Ko, S., Song, C. & Kim, H. Cooperative control of the motor and the electric booster brake to improve the stability of an in-wheel electric vehicle. Int.J Automot. Technol. 17, 447–456 (2016). https://doi.org/10.1007/s12239-016-0046-5
Received:
Revised:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s12239-016-0046-5