Control law development for a four wheel direct drive EV

The purpose of this research is to develop a control law for a four wheel direct drive electric vehicle to improve the vehicle stability and handling performance. The control law is to calculate the required torque from the in-wheel motors of the vehicle to control the vehicle sideslip angle and yaw rate. For the simulation, a vehicle dynamics model is derived, which contains a three degree of freedom vehicle model. The wheels are assumed to be non-slip. Simulation results show that the vehicle stability and handling performance can be improved by the applying the developed control law of four wheel direct drive.