Z. Qi

Parameterisation analysis for a four in-wheel-motors drive and four wheels independent steering electric vehicle based on multi-body inverse kinematics

In this paper, a kinematics model with 14 degrees of freedom (DOF) is built for a four in-wheel-motors drive and four wheels independent steering electric vehicle based on the multi-body dynamics theory and modelling integration method. Considering the slippage control of wheels, the optimal speeds for the individual wheel and the optimal steering angles can be obtained for the desired trajectory through inverse kinematics analysis of the model. A typical case has been simulated and the useful driving parameterisation analysis for the vehicle can be obtained. The results of this paper can provide the basic and standard data for the coordination control among four driven in-wheel-motors and four all wheels independent steering motors according to the desired curve motion and will be validated by future test data results.

A novel control method for electric power steering system based on dead-zone inverse transforming compensation in a four-in-wheel-motor drive electric vehicle

Since the four-in-wheel-motors drive (FWMD) Electric Vehicle (EV) has a 4-wheel independent steering, this paper presents a novel control method for an electric power steering system with a dead-zone execution mechanism. A mathematical model was derived for execution mechanisms from the empirical data. A “Dead-zone Inverse Transforming Compensation” was designed to eliminate ill effects caused by dead-zone. The experiment in a real car environment proves that the proposed method.