Mathematical model of the moment distribution algorithm along the axes of an electric vehicle with a two-motor type

Abstract

BACKGROUND: The development of electric and hybrid vehicles is impossible without the creation of schemes in which torque is generated by electric motors independently on the front and rear axles or on each wheel and the best dynamics is achieved. The development of a function for distributing torque between the axles or wheels of a car is a relevant technical task. AIMS: Creation of a mathematical model for the torque distribution requested by the driver to the front and rear electric motors in order to assist the course stability system and counteract wheel slip when driving in a turn close to drifting/skidding or driving on surfaces with a low or variable grip coefficient. METHODS: The algorithm model was built in the MATLAB/Simulink environment, was tested in the model-in-the-loop mode on a simulation model developed in the Simcenter Amesim environment, was tested in the hardware-in-the-loop mode on the LabCar real-time machine (ETAS GmbH) and was tested in a vehicle. RESULTS: The function based on the abovementioned methods was built in MATLAB/Simulink. Testing in simulation mode on the simulation model developed in Simcenter Amesim was performed and the initial values of calibration parameters were determined. Implementation of the function into the software structure of the prototype and compilation of the executable C-code for the master file loaded into the control unit were completed. Testing of the function implemented into the control unit on the LabCar real-time test rig was carried out. After eliminating the shortcomings identified at the previous stages of testing, calibrations and tests of the function integrated into the vehicle were carried out, which showed the effectiveness of the described torque distribution model. CONCLUSIONS: The practical value of the study lies in the possibility of using the proposed control laws to develop systems for torque distribution between the axles or wheels of modern vehicles.