Development of mathematical models for an Electric Vehicle with 4 in-wheel electric motors

Abstract

CIDAUT Foundation is a Spanish non-profit Research and Development Centre for Transport and Energy. One of CIDAUT's current lines of work is sustainable mobility, involving the electric vehicle and its infrastructure. In order to advance in this direction, CIDAUT has designed and manufactured a technological demonstrator consisting of an Electric Vehicle. Currently, CIDAUT's research deals with the implementation of Direct Yaw Moment Controls (DYC) in electric vehicles with 4 in-wheel motors. This paper aims to describe the different simplifications and subsystems created to generate advanced control algorithms. This technology belongs to the electronic active systems equipment incorporated in the future in order to have a proper control of the behaviour of the vehicle. This new powertrain system presented in this paper allows control engineers to develop more advanced algorithms due to highly versatile systems where is possible to generate forces independently on each wheel. © Springer-Verlag Berlin Heidelberg 2011.