Longitudinal Modelling and Control of In-Wheel-Motor Electric Vehicles as Multi-Agent Systems

Binh-Minh Nguyen, Hung Van Nguyen, Minh Ta-Cao and Michihiro Kawanishi
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Binh-Minh Nguyen: Department of Advanced Science and Technology, Toyota Technological Institute, 2-12-1 Hisakata, Tempaku, Nagoya 468-8511, Japan
Hung Van Nguyen: Department of Electrical Engineering, Ha Noi University of Science and Technology, 01 Dai Co Viet Street, Hanoi 100000, Vietnam
Minh Ta-Cao: Department of Electrical Engineering, Ha Noi University of Science and Technology, 01 Dai Co Viet Street, Hanoi 100000, Vietnam
Michihiro Kawanishi: Department of Advanced Science and Technology, Toyota Technological Institute, 2-12-1 Hisakata, Tempaku, Nagoya 468-8511, Japan

Energies, 2020, vol. 13, issue 20, 1-28

Abstract: This paper deals with longitudinal motion control of electric vehicles (EVs) driven by in-wheel-motors (IWMs). It shows that the IWM-EV is fundamentally a multi-agent system with physical interaction. Three ways to model the IWM-EV are proposed, and each is applicable to certain control objectives. Firstly, a nonlinear model with hierarchical structure is established, and it can be used for passivity-based motion control. Secondly, a linearized model with rank-1 interconnection matrix is presented for stability analysis. Thirdly, a time-varying state-space model is proposed for optimal control using linear quadratic regulator (LQR). The proposed modellings contribute the new understanding of IWM-EV dynamics from the view point of multi-agent-system theory. By choosing the suitable control theory for each model, the complexity level of system design is maintained constant, no matter what the number of IWMs installed to the vehicle body. The effectiveness of three models and their design approaches are discussed by several examples with Matlab/Carsim co-simulator.

Keywords: electric vehicle; in-wheel-motor; motion control; anti-slip; slip-ratio; multi-agent-system (search for similar items in EconPapers)
JEL-codes: Q Q0 Q4 Q40 Q41 Q42 Q43 Q47 Q48 Q49 (search for similar items in EconPapers)
Date: 2020
References: View references in EconPapers View complete reference list from CitEc
Citations: View citations in EconPapers (1)

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