ABSTRACT
This work is motivated to enhance the handling and stability performance of an in-wheel-motor-driven electric vehicle (EV). The EV prototype has been developed, and the vehicle parameters have been obtained through practical measurements and road tests. A corresponding multi-body dynamics model of the prototype has been built by using Solid Works and Adams/Car. An Extended Kalman Filter (EKF) is utilized to estimate the vehicle motion states via a simplified full vehicle model with an empirical tire simulation model which has been verified with the experimental data obtained from CarSim Tire Tester. A fractional order PID (FO-PID) controller is designed for the handling and stability requirements of the EV. Simulations in some typical cases have been carried out, and the results show the effectiveness of the proposed control strategy.
