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

  • Ko, Sung-Yeon (School of Mechanical Engineering, Sungkyunkwan University) ;
  • Ko, Ji-Weon (School of Mechanical Engineering, Sungkyunkwan University) ;
  • Lee, Sang-Moon (X-By-Wire Engineering Team, Hyundai Mobis) ;
  • Cheon, Jae-Seung (X-By-Wire Engineering Team, Hyundai Mobis) ;
  • Kim, Hyun-Soo (School of Mechanical Engineering, Sungkyunkwan University)
  • Received : 2013.01.21
  • Published : 2013.07.20

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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