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International Journal of Automotive Technology > Volume 15(4); 2014 > Article
International Journal of Automotive Technology 2014;15(4): 573-580.
ELECTRONIC STABILITY CONTROL FOR ELECTRIC VEHICLE WITH FOUR IN-WHEEL MOTORS
B.-C. CHEN, C.-C. KUO
National Taipei University of Technology
ABSTRACT
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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