Vehicle Dynamic Control for In-Wheel Electric Vehicles Via Temperature Consideration of Braking Systems

  • Jinhyun Park
  • Minho Kwon
  • Gwangil Du
  • Jeewook Huh
  • Sung-Ho Hwang
Article
  • 54 Downloads

Abstract

−Vehicle dynamic control (VDC) systems play an important role with regard to vehicle stability and safety when turning. VDC systems prevent vehicles from spinning or slipping when cornering sharply by controlling vehicle yaw moment, which is generated by braking forces. Thus, it is important to control braking forces depending on the driving conditions of the vehicle. The required yaw moment to stabilize a vehicle is calculated through optimal control and a combination of braking forces used to generate the calculated yaw moment. However, braking forces can change due to frictional coefficients being affected by variations in temperature. This can cause vehicles to experience stability problems due an improper yaw moment being applied to the vehicle. In this paper, a brake temperature estimator based on the finite different method (FDM) was proposed with a friction coefficient estimator in order to solve this problem. The developed braking characteristic estimation model was used to develop a VDC cooperative control algorithm using hydraulic braking and the regenerative braking of an in-wheel motor. Performance simulations of the developed cooperative control algorithm were performed through cosimulation with MATLAB/Simulink and CarSim. From the simulation results, it was verified that vehicle stability was ensured despite any changes in the braking characteristics due to brake temperatures.

Key words

In-wheel electric vehicle Vehicle dynamic control Friction braking system In-wheel motor 

Nomenclature

v

vehicle velocities

vx

vehicle longitudinal velocities

vy

vehicle lateral velocities

γ

vehicle yaw rate

β

vehicle sideslip angle

νf, νr

front and rear tire velocities, respectively

δf, δr

front and rear steering angles, respectively

αf, αr

front and rear tire slip angles, respectively

Fyf, Fyr

front and rear lateral tire forces, respectively

a, b

longitudinal distances from the C.G to the front and rear tire, respectively

d

tire tread

Iγ

vehicle yaw moment of inertia

M

control yaw moment

Cf

cornering stiffness values of the front tires

Cr

cornering stiffness values of the rear tires

Kus

understeer coefficient

qf

friction heat

Tfb

braking torque

ωw

wheel velocity

qd

disk friction heat

qp

pad friction heat

βheat

heat distribution factor

ρd, ρp

disk and pad density, respectively

cd, cp

disk and pad specific heat, respectively

kd, kp

disk and pad thermal conductivity, respectively

Ad, Ap

pad and disk area, respectively

Fo

Fourier number

h

convective heat transfer coefficient

Bi

Biot number

Fb

estimated braking force

μ

estimated friction coefficient

Tp

estimated pad temperature

rde

disk effective radius

rw

wheel radius

FN

normal force applied to the disk

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Copyright information

© The Korean Society of Automotive Engineers and Springer-Verlag GmbH Germany, part of Springer Nature 2018

Authors and Affiliations

  • Jinhyun Park
    • 1
  • Minho Kwon
    • 1
  • Gwangil Du
    • 2
  • Jeewook Huh
    • 2
  • Sung-Ho Hwang
    • 1
  1. 1.Department of Mechanical EngineeringSungkyunkwan UniversityGyeonggiKorea
  2. 2.HEV Performance Development TeamHyundai Motor CompanyGyeonggiKorea

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