Experimental Evaluation of Dynamic Force Distribution Method for EV Motion Control

The purpose of this paper is to evaluate the effectiveness of the dynamic force distribution methods, which are used for perfect traction force control of in-wheel motored EVs. Integrated with maneuverability improvement control system, the proposed method dynamically distributes the total driving force among the available in-wheel driving motors by according to the working conditions of tires. Due to such precise distribution, the motors can be purposely controlled with different force commands. Therefore, the wheels can be driven in a special way to realize the traction forces and moments, which are required for the motion control. It helps improve turning maneuverability and keep stability of EV, especially in the marginal turning conditions. Experiment results indicate that the control system with the proposed dynamic force distribution method much more greatly improve EV turning characteristics than the one which uses the equal force distribution method.