| ELECTRONIC STABILITY CONTROL FOR ELECTRIC VEHICLE WITH FOUR IN-WHEEL MOTORS |
| B.-C. CHEN, C.-C. KUO |
| National Taipei University of Technology |
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| ABSTRACT |
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The electric vehicle with four direct-driven in-wheel motors is an over actuated system. A three-level control strategy of electronic stability control (ESC) is proposed to achieve optimal torque distribution for four in-wheel motors. The first level is a gain-scheduled linear quadratic regulator which is designed to generate the desired yaw moment command for ESC. Control allocation is the second level which is used to distribute the desired longitudinal tire forces according to the yaw moment command while satisfying the driver |
| Key Words:
Optimal torque distribution, Electronic stability control, Linear quadratic regulator, Electric vehicle, Inwheel motor, Control allocation, Slip ratio control |
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