Simulation analysis of vertical and lateral dynamics of an electric vehicle driven by two rear hub-motors

Author

Chen, Yong ; Lu, Zhongkui

Author_Institution

Mech. & Electr. Eng. Sch., Beijing Inf. Sci. & Technol. Univ., Beijing, China

fYear

2009

fDate

9-12 Aug. 2009

Firstpage

3613

Lastpage

3618

Abstract

Modeling, simulation analysis of vertical and lateral dynamics of an electric vehicle driven by two rear hub-motors are presented. An eleven-DOF model of the electric vehicle and the road surface input model are all established. A PID controller is used to adjust yaw rate to the desired one when slip ratio of the driving wheels is less than peak slip ratio. Simulation is performed considering inputs of steering angle of the front wheels, acceleration pedal and road inputs to four wheels. Simulation results show that yaw rate and trajectory are improved when steering input is applied. The proposed controller can provide reference to development of electric vehicles with hub-motors.

Keywords

electric vehicles; steering systems; three-term control; PID controller; electric vehicles; hub-motors; road surface input model; slip ratio; steering angle; yaw rate; Analytical models; Control system synthesis; Electric vehicles; Hybrid electric vehicles; Information analysis; Open loop systems; Roads; Vehicle driving; Vehicle dynamics; Wheels; Electric vehicle; Hub-motor; Simulation Analysis; Vehicle dynamics;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation, 2009. ICMA 2009. International Conference on

Conference_Location

Changchun

Print_ISBN

978-1-4244-2692-8

Electronic_ISBN

978-1-4244-2693-5

Type

conf

DOI

10.1109/ICMA.2009.5246061

Filename

5246061