Decoupled 3D Moment Control for Vehicle Motion Using In-Wheel Motors

Etsuo Katsuyama

doi:10.4271/2013-01-0679

Vehicles equipped with in-wheel motors are being studied and developed as a type of electric vehicle. Since these motors are attached to the suspension, a large vertical suspension reaction force is generated during driving. Based on this mechanism, this paper describes the development of a method for independently controlling roll and pitch as well as yaw using driving force distribution control at each wheel. It also details the theoretical calculation of a method for decoupling the dynamic motions. Finally, it describes the application of these 3D dynamic motion control methods to a test vehicle and the confirmation of the performance improvement.

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Decoupled 3D Moment Control for Vehicle Motion Using In-Wheel Motors 2013-01-0679

SAE MOBILUS