Article: Sliding mode control of wheel hub motors for electronic differential in electric vehicles Journal: International Journal of Systems, Control and Communications (IJSCC) 2025 Vol.16 No.5 pp.1 - 22 Abstract: A vehicle dynamics model based on sliding mode variable structure is proposed. The final load generated by the control process is smaller than that of the rear wheel independent drive mode, indicating that the four-wheel independent drive mode has more precise control over the motor. Compared with PI control, the wheel speed tracking accuracy of four-wheel independent drive electric vehicles is significantly improved, and in comparative experiments, it is shown that the longitudinal force error of the electric vehicle is controlled within 1%. At the same time, comparing the lateral force of the two, the difference value approaches 0, and there is a slight difference of about 1% in vertical load. The handling stability of the whole vehicle is also improved, and compared with the traditional sliding mode variable structure, the four-wheel independent drive model shows better control performance and higher accuracy in wheel speed control. Inderscience Publishers - linking academia, business and industry through research

Title: Sliding mode control of wheel hub motors for electronic differential in electric vehicles

Authors: Zhengjie Li

Addresses: Hebi Institute of Engineering and Technology, Henan Polytechnic University, Hebi City, 458030, China

Abstract: A vehicle dynamics model based on sliding mode variable structure is proposed. The final load generated by the control process is smaller than that of the rear wheel independent drive mode, indicating that the four-wheel independent drive mode has more precise control over the motor. Compared with PI control, the wheel speed tracking accuracy of four-wheel independent drive electric vehicles is significantly improved, and in comparative experiments, it is shown that the longitudinal force error of the electric vehicle is controlled within 1%. At the same time, comparing the lateral force of the two, the difference value approaches 0, and there is a slight difference of about 1% in vertical load. The handling stability of the whole vehicle is also improved, and compared with the traditional sliding mode variable structure, the four-wheel independent drive model shows better control performance and higher accuracy in wheel speed control.

Keywords: electric vehicle; variable structure control; hub motor; PI control; coordinated control algorithm.

DOI: 10.1504/IJSCC.2025.147803

International Journal of Systems, Control and Communications, 2025 Vol.16 No.5, pp.1 - 22

Received: 29 Oct 2024
Accepted: 04 Jan 2025
Published online: 01 Aug 2025 *

Title: Sliding mode control of wheel hub motors for electronic differential in electric vehicles

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