Design of an Advanced Traction Controller for an Electric Vehicle Equipped With Four Direct-Driven, In-Wheel Motors

摘要

The vision for the future automotive chassis is to interconnect the lateral, longitudinal, and vertical dynamics by separately controlling driving, braking, steering, and damping of each individual wheel. A major advantage of all-wheel-drive electric vehicles with four in-wheel motors is the possibility to control the torque and speed at each wheel independently. This paper proposes a traction controller for such a vehicle. It estimates the road's adhesion potential at each wheel and adjusts each motor voltage, such that the longitudinal slip is kept in an optimal range. For development and validation, a full-vehicle model is designed in ADAMS/View software, in co-simulation with motor and control elements, modeled in MATLAB/Simulink.