Title: An in-wheel motor-based tyre test vehicle

Authors: Josko Deur, Milan Kostelac, Zvonko Herold, Vladimir Ivanovic, Danijel Pavkovic, Mario Hrgetic, Jahan Asgari, Carlo Miano, Davor Hrovat

Addresses: Faculty of Mechanical Engineering and Naval Architecture, University of Zagreb, I. Lucica 5, HR-10000 Zagreb, Croatia. ' Faculty of Mechanical Engineering and Naval Architecture, University of Zagreb, I. Lucica 5, HR-10000 Zagreb, Croatia. ' Faculty of Mechanical Engineering and Naval Architecture, University of Zagreb, I. Lucica 5, HR-10000 Zagreb, Croatia. ' Faculty of Mechanical Engineering and Naval Architecture, University of Zagreb, I. Lucica 5, HR-10000 Zagreb, Croatia. ' Faculty of Mechanical Engineering and Naval Architecture, University of Zagreb, I. Lucica 5, HR-10000 Zagreb, Croatia. ' Faculty of Mechanical Engineering and Naval Architecture, University of Zagreb, I. Lucica 5, HR-10000 Zagreb, Croatia. ' Ford Research and Advanced Engineering, MD 2036, P.O. Box 2053, Dearborn, MI 48121, USA. ' Ford Research Center Aachen, Susterfeldstrasse 200, 52072 Aachen, Germany. ' Ford Research and Advanced Engineering, MD 2036, P.O. Box 2053, Dearborn, MI 48121, USA

Abstract: An experimental three-wheel electrical vehicle has been developed in order to provide a platform for experimental verifications of advanced tyre friction models, estimators and controllers. The vehicle comprises a high-torque permanent-magnet synchronous motor built in the front wheel and precise incremental encoders for the front- and rear-wheel speed measurements. The paper presents a description of the vehicle and gives characteristic experimental procedures and results related to motor static and dynamic behaviour. Experimental results on tyre friction identification are also presented.

Keywords: automotive applications; control; drives; electric vehicles; tyre friction; modelling; estimation; mechatronics; permanent magnet motors; test rigs; tyres; tyre testing; motor static behaviour; motor dynamic behaviour; synchronous motors; wheel speed.

DOI: 10.1504/IJVSMT.2007.016237

International Journal of Vehicle Systems Modelling and Testing, 2007 Vol.2 No.3, pp.252 - 275

Published online: 11 Dec 2007 *

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