[논문]A Study on In-wheel Motor Control to Improve Vehicle Stability Using Human-in-the-Loop Simulation

Ko, Sung-Yeon; Ko, Ji-Weon; Lee, Sang-Moon; Cheon, Jae-Seung; Kim, Hyun-Soo

doi:10.6113/jpe.2013.13.4.536

A Study on In-wheel Motor Control to Improve Vehicle Stability Using Human-in-the-Loop Simulation 원문보기

Journal of power electronics, v.13 no.4, 2013년, pp.536 - 545

Ko, Sung-Yeon (School of Mechanical Engineering, Sungkyunkwan University) , Ko, Ji-Weon (School of Mechanical Engineering, Sungkyunkwan University) , Lee, Sang-Moon (X-By-Wire Engineering Team, Hyundai Mobis) , Cheon, Jae-Seung (X-By-Wire Engineering Team, Hyundai Mobis) , Kim, Hyun-Soo (School of Mechanical Engineering, Sungkyunkwan University)

Abstract ▼ AI-Helper

In this study, an integrated motor control algorithm for an in-wheel electric vehicle is suggested. It consists of slip control that controls the in-wheel motor torque using the road friction coefficient and slip ratio; yaw rate control that controls the in-wheel motor torque according to the road friction coefficient and the yaw rate error; and velocity control that controls the vehicle velocity by a weight factor based on the road friction coefficient and the yaw rate error. A co-simulator was developed, which combined the vehicle performance simulator based on MATLAB/Simulink and the vehicle model of CarSim. Based on the co-simulator, a human-in-the-loop simulation environment was constructed, in which a driver can directly control the steering wheel, the accelerator pedal, and the brake pedal in real time. The performance of the integrated motor control algorithm for the in-wheel electric vehicle was evaluated through human-in-the-loop simulations.

주제어

AI 본문요약
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문제 정의

With no control, the driver performed emergency braking as the vehicle slipped in the lateral direction, causing the vehicle to rollover. The integrated motor control algorithm suggested in this study for the in-wheel electric vehicle improved the vehicle stability.

제안 방법

Motor torque is actively controlled by measuring and calculating the slip ratio, yaw rate, and vehicle velocity as well as by estimating the road friction characteristics. A co-simulator which combines the vehicle performance simulator based on MATLAB/Simulink and the vehicle model of CarSim is developed to verify the performance of the suggested integrated motor control algorithm. A human-in-the-loop simulation (HILS) environment is constructed based on the co-simulator, and the performance of the integrated motor control for an in-wheel electric vehicle is evaluated.
In this study, an integrated motor control algorithm for the in-wheel motor is suggested, which simultaneously considers the slip ratio, yaw rate, vehicle velocity, and road friction to secure vehicle stability. Motor torque is actively controlled by measuring and calculating the slip ratio, yaw rate, and vehicle velocity as well as by estimating the road friction characteristics.
The human-in-the-loop simulator (Fig. 9) was developed to evaluate the performance of the integrated motor control algorithm suggested in this study. Since the driver can directly drive in an environment similar to the actual one in HILS, HILS can evaluate the performance of the control logic while minimizing the driver’s effect on the controller.

성능/효과

In conclusion, for no control, the driver felt the slip of the vehicle in the lateral direction and consequently, stepped on the emergency brake after point B, but a rollover ultimately occurred. In contrast, with the integrated motor control, the vehicle safely turned with the motor torque control after the driver started turning at point A.
In conclusion, without control, a rollover occurred, but with the integrated motor control, a smaller turning radius, lower slip ratio, and reduced yaw rate error and side slip angle were obtained.
The HILS results showed that for the J-turn with the road friction coefficient μ = 0.85, with the integrated motor control, the driver made a turn with a smaller radius and the slip ratio, yaw rate error, and side slip angle were smaller than those with no control.

참고문헌 (19)

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원문보기 상세보기
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상세보기
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상세보기
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상세보기
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상세보기
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원문보기 상세보기
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상세보기
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상세보기
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