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torque distribution of Electric Vehicle with Four In-Wheel Motors Based on Road Adhesion Margin

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Transactions of Nanjing University of Aeronautics and Astronautics 2019年第1期36卷 181-188页

作者： WANG Chunyan LI Wenkui ZHAO Wanzhong DUAN Tingting Department of Automotive Engineering Nanjing University of Aeronautics and Astronautics Key Laboratory of Advanced Manufacture Technology for Automobile Parts Chongqing University of TechnologyMinistry of Education

With the worsening of energy crisis and environmental pollution,electric vehicles with four in?wheel motors have been paid more and more attention. The main research subject is how to reasonably distribute the driving torque of each wheel. Considering the longitudinal motion,lateral motion,yaw movement and rotation of the four wheels,the tire model and the seven DOF dynamic model of the vehicle are established in this paper. Then,the torque distribution method is proposed based on road adhesion margin,which can be divided into anti ? slip control layer and torque distribution layer. The anti?slip control layer is built based on sliding mode variable structure control,whose main function is to avoid the excessive slip of wheels caused by road conditions. The torque distribution layer is responsible for selecting the torque distribution method based on road adhesion margin. The simulation results show that the proposed torque distribution method can ensure the vehicle quickly adapt to current road adhesion conditions,and improve the handling stability and dynamic performance of the vehicle in the driving process.

关键词： electric vehicle with four in-wheel motors torque distribution road adhesion margin anti-slip control

torque distribution Strategy of Electric Vehicle with In-wheel Motors Based on the Identification of Driving Intention

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Automotive Innovation 2018年第2期1卷 140-146页

作者： Bo Peng Huanhuan Zhang Feihu Xuan Wenwen Xiao College of Automotive Engineering Shanghai University of Engineering ScienceShanghai 201620China

A driver’s intention is recognized accurately by employing fuzzy identification and a logic threshold including acceleration intention and steering *** torque distribution control strategies are developed for different intentions and the driver’s torque demand is amended by fuzzy identification so that the response of the vehicle is more consistent with the driver’s intention of ***,a simulation model is built using MATLAB/Simulink to validate the control *** results show that the system accurately identifies the driver’s intention and improves the acceleration performance and steering stability of the vehicle.

关键词： Fuzzy recognition torque distribution Driving intention In-wheel motors Steering stability

Lateral stability region conservativeness estimation and torque distribution for FWIA electric vehicle steering

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Science China(Technological Sciences) 2015年第4期58卷 669-676页

作者： YIN Guo Dong JIN Xian Jian QING Zhi Yong BIAN Chen Tong School of Mechanical Engineering Southeast University State Key Laboratory of Automotive Safety and Energy Tsinghua University

Estimation of the lateral stability region and torque distribution on steering is very important to improve stability in lateral handling for all wheel drive electric *** on the built-nonlinear vehicle dynamic model,the lateral stability region of the vehicle related to steering is estimated using Lyapunov *** obtained stable equilibrium points of non-straight driving according to the estimated lateral stability region and also reconstructed the Lyapunov function matrix,which proved that the closed-loop system composed of yaw rate and lateral velocity is satisfied with negative definite *** addition,the designed controller dynamically allocates the drive torque in terms of the vertical load and slip rate of the four *** simulation results show that the estimated lateral stability region and the designed controller are satisfactory in handling stability performance against different roads and vehicle parameters.

关键词： four-wheel independently actuated electric vehicle torque distribution vehicle steering stability region estimation

A Survey on torque distribution of Rocker-bogied Lunar Rover Wheel

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A Survey on Torque Distribution of Rocker-bogied Lunar Rover...

Study on acceleration slip regulation torque distribution control strategy for four in-wheel-motors electric vehicle steering 25th

2012 International Conference on Electrical and Computer Engineering(ICECE2012)

作者： Ma Ke Miao Zhiquan Zhang Bo Department of Electronics and Information North China Institute of Science and Technology Yanjiao Beijing-east

To rocker bogied lunar rover,the thesis analyses static model and brings up two methods to estimate the torque *** simulation experiments support the fact that the torque distribution method based on neural network is... 详细信息

关键词： Lunar Rover Static Model torque distribution

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Study on acceleration slip regulation torque distribution co...

Reducing Operation Emissions and Improving Work Efficiency Using a Pure Electric Wheel Drive Tractor

第25届中国控制与决策会议

作者： Qian-nan Wang Li Zhai Jie Wang Hui-xia Feng Department of Vehicle Engineering Beijing Institute of Technology Beijing Shanghai Volkswagen Automotive Company Shanghai

ISBN: (纸本)9781467355339

For the motors of a four in-wheel-motors drive vehicle are independently controllable, so the torque coordination distribution among multi-wheel-motors has been the key technology of the four in-wheel-motors drive vehicle. Kinematics and dynamics analysis of steering are studied for four in-wheel-motors vehicle, the longitudinal force of each wheel is analyzed when the vehicle is in stably steering in different steering radiuses, a torque distribution strategy of acceleration slip regulation based on targeted speed is proposed and a fuzzy controller is designed. The co-simulation among Carsim, Matlab/Simulink and RT-Lab is carried out to verify the feasibility and effectiveness of the torque distribution strategy during different radiuses.

关键词： Electric vehicle Four wheel steering Acceleration slip regulation torque distribution

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Engineering 2024年第6期37卷 230-245页

作者： Chang-Kai Wen Wen Ren Qing-Zhen Zhu Chun-Jiang Zhao Zhen-Hao Luo Sheng-Li Zhang Bin Xie Zhi-Jun Meng Research Center of Intelligent Equipment Beijing Academy of Agriculture and Forestry SciencesBeijing 100097China State Key Laboratory of Intelligent Agricultural Power Equipment Beijing 100097China BYD Company Limited Shenzhen 518118China College of Agricultural Engineering Jiangsu UniversityZhenjiang 212013China College of Engineering China Agricultural UniversityBeijing 100083China

In response to the problems of excessive greenhouse-gas and particulate emissions and the low traction efficiency of conventional diesel tractors in the field,a purely electric wheel-side drive tractor was studied,including an electric motor drive system,a battery ballast system,and an electro–hydraulic suspension *** paper develops a dynamics model of an electric tractor-ploughing unit under complex soil conditions,leading to the proposal of an active control method for drive wheel torque and a joint control method for the traction force of the suspension system and the front-and rear-axle loads of a ***,the tractor is prototyped and assembled,and ploughing tests are carried *** ploughing results show that the active torque-distribution control method proposed in this study reduces the tractor slip by 14.83%and increases the traction efficiency by 10.28%compared with the average torquedistribution *** with the conventional traction control mode,the joint control method for traction and ballast proposed in this paper results in a 3.7%increase in traction efficiency,a 15.05%decrease in slip,and a 4.9%reduction in total drive motor energy *** study will help to improve the operation quality and traction efficiency of electric tractors in complex soil conditions.

关键词： Electric tractor Ploughing unit torque distribution Active ballast Traction performance

A Novel Electric Dual Motor Transmission for Heavy Commercial Vehicles

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Automotive Innovation 2021年第1期4卷 34-43页

作者： Xiangyang Xu Jiajia Liang Qingjun Hao Peng Dong Shuhan Wang Wei Guo Yanfang Liu Zhonghua Lu Jiantao Geng Bin Yan School of Transportation and Science Engineering Beihang UniversityBeijing 102206China Ningbo Institute of Technology Beihang UniversityNingbo 315832China eKontrol Co. Ltd.Suzhou 215211China

As a vital vehicle part,the powertrain system is undergoing a fast transition towards *** new integrated electric drive system has been widely used,especially for passenger *** this work,a novel electric dual motor transmission is proposed for heavy commercial *** transmission scheme is firstly introduced,which can achieve 9 different operating modes including 5 single motor modes and 4 dual motor ***,the mode shift map with minimum energy consumption is designed based on the motor efficiency map and the proposed energy management *** driving power is appropriately distributed between the two motors in dual motor modes under the condition of minimum power *** addition,a coordinated control strategy is developed for mode shift control without power *** results show that the electric dual motor transmission has advantages in power consumption and power shift ability compared with the conventional single motor automated manual transmission.

关键词： Dual motor transmission Operating mode Mode shift map Mode shift control torque distribution Coordinated control

Effect of the Reaction Field on Molecular Forces and torques Revealed by an Image-Charge Solvation Model

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Communications in Computational Physics 2013年第1期13卷 129-149页

作者： Wei Song Yuchun Lin Andrij Baumketner Shaozhong Deng Wei Cai Donald JJacobs Departments of Bioinformatics and Genomics University of North Carolina at CharlotteCharlotteNC 28262USA Departments of Physics and Optical Science University of North Carolina at CharlotteCharlotteNC 28262USA Departments of Mathematics and Statistics University of North Carolina at CharlotteCharlotteNC 28262USA On leave from Institute for Condensed Matter Physics 1 Svientsitsky Str.Lviv 79011Ukraine

We recently developed the Image-Charge Solvation Model(ICSM),which is an explicit/implicit hybrid model to accurately account for long-range electrostatic forces in molecular dynamics simulations[Lin et al.,***.,131,154103,2009].The ICSM has a productive spherical volume within the simulation cell for which key physical properties of bulk water are reproduced,such as density,radial distribution function,diffusion constants and dielectric *** the reaction field(RF)is essential,it typically accounts for less than 2% of the total electrostatic force on a water *** observation motivates investigating further the role of the RF within the *** this report we focus on distributions of forces and torques on water molecules as a function of distance from the origin and make extensive tests over a range of model parameters where Coulomb forces are decomposed into direct interactions from waters modeled explicitly and the *** torques due to the RF typically account for 20% of the total torque,revealing why the RF plays an important role in the dielectric properties of simulated ***,it becomes clear that the buffer layer in the ICSM is essential to mitigate artifacts caused by the discontinuous change in dielectric constants at the explicit/implicit interface.

关键词： Image charges reaction field force distribution torque distribution dipole moment

Coordination Control for Formation and Lateral Stability under Constant Speed of Four-wheel Independently Driving Electric Vehicles

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Coordination Control for Formation and Lateral Stability und...