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Title: A road surface identification method for a four in-wheel-motor drive electric vehicle

Authors: Zhijun Deng; Ziming Tom Qi; Zhurong Dong; Ping He; Chengwei Han; Shaoyun Ren

Addresses: School of Automotive and Transportation Engineering, Shenzhen Polytechnic, Shahe West Road No. 1089, Nanshan District, Shenzhen, Guangdong Province, China ' School of Architecture Building and Engineering, Otago Polytechnic, Forth Street, Private Bag 1910, Dunedin 9054, New Zealand ' School of Automotive and Transportation Engineering, Shenzhen Polytechnic, Shahe West Road No. 1089, Nanshan District, Shenzhen, Guangdong Province, China ' School of Automotive and Transportation Engineering, Shenzhen Polytechnic, Shahe West Road No. 1089, Nanshan District, Shenzhen, Guangdong Province, China ' School of Automotive and Transportation Engineering, Shenzhen Polytechnic, Shahe West Road No. 1089, Nanshan District, Shenzhen, Guangdong Province, China ' School of Automotive and Transportation Engineering, Shenzhen Polytechnic, Shahe West Road No. 1089, Nanshan District, Shenzhen, Guangdong Province, China

Abstract: A four in-wheel-motors drive electric vehicle needs to identify the road surface in order to optimise the slip-ratio control. This paper builds a four in-wheel-motor drive electric vehicle dynamic model and estimates the vehicle speed and driving forces of four wheels by the method of adaptive filtering. According to the calculated tyre adhesion coefficient and slip ratio, the paper employs the method of combining fuzzy inference with slope determination to evaluate the road type and determine the target slip ratio, and obtains a better slip ratio regulation effect through timely and precise adjustment of output torque of the in-wheel motors. The simulation and experiment results confirm that it is a reliable design.

Keywords: four-in-wheel-motor drive; electric vehicles; road surface identification; slip ratio control; dynamic modelling; vehicle speed; driving forces; adaptive filtering; tyre adhesion coefficient; fuzzy inference; slope determination; road type; output torque; simulation.

DOI: 10.1504/IJBBR.2013.058721

International Journal of Biomechatronics and Biomedical Robotics, 2013 Vol.2 No.2/3/4, pp.87 - 92

Available online: 17 Jan 2014 *

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