Independent wheel torque control of small-scale electric vehicle for handling and stability improvement

Abstract

This paper examines the feasibility of the proposed control in a small-scale electric vehicle with two independent motors equipped at the rear axles. The direct yaw moment control system is designed with the application of model matching control theory. For realizing the proposed system in an actual electric vehicle, it is necessary to estimate the side slip angle instead of measuring it directly. A speed-dependent observer is proposed in this paper. Experiments using actual small-scale electric vehicle are carried out to verify the effectiveness of the proposed chassis control system on lateral stability in a J-turn test and lane change tests.