A Study on In-wheel Motor Control to Improve Vehicle Stability Using Human-in-the-Loop Simulation

Sung-Yeon Ko; Ji-Weon Ko; Sang-Moon Lee; Jae-Seung Cheon; Hyun-Soo Kim

A Study on In-wheel Motor Control to Improve Vehicle Stability Using Human-in-the-Loop Simulation

Vol. 13, No. 4, pp. 536-545, Jul. 2013

10.6113/JPE.2013.13.4.536

Integrated control

In-wheel

Motor control

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Abstract

In this study, an integrated motor control algorithm for an in-wheel electric vehicle is suggested. It consists of slip control that controls the in-wheel motor torque using the road friction coefficient and slip ratio; yaw rate control that controls the in-wheel motor torque according to the road friction coefficient and the yaw rate error; and velocity control that controls the vehicle velocity by a weight factor based on the road friction coefficient and the yaw rate error. A co-simulator was developed, which combined the vehicle performance simulator based on MATLAB/Simulink and the vehicle model of CarSim. Based on the co-simulator, a human-in-the-loop simulation environment was constructed, in which a driver can directly control the steering wheel, the accelerator pedal, and the brake pedal in real time. The performance of the integrated motor control algorithm for the in-wheel electric vehicle was evaluated through human-in-the-loop simulations.

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Cite this article

[IEEE Style]

S. Ko, J. Ko, S. Lee, J. Cheon, H. Kim, "A Study on In-wheel Motor Control to Improve Vehicle Stability Using Human-in-the-Loop Simulation," Journal of Power Electronics, vol. 13, no. 4, pp. 536-545, 2013. DOI: 10.6113/JPE.2013.13.4.536.

[ACM Style]

Sung-Yeon Ko, Ji-Weon Ko, Sang-Moon Lee, Jae-Seung Cheon, and Hyun-Soo Kim. 2013. A Study on In-wheel Motor Control to Improve Vehicle Stability Using Human-in-the-Loop Simulation. Journal of Power Electronics, 13, 4, (2013), 536-545. DOI: 10.6113/JPE.2013.13.4.536.