- Published:
Interaction of In-wheel permanent magnet synchronous motor with tire dynamics
Chinese Journal of Mechanical Engineering volume 28, pages 470–478 (2015)
Abstract
Drive wheel systems combined with the in-wheel permanent magnet synchronous motor (I-PMSM) and the tire are highly electromechanical-coupled. However, the deformation dynamics of this system, which may influence the system performance, is neglected in most existing literatures. For this reason, a deformable tire and a detailed I-PMSM are modeled using Matlab/Simulink. Furthermore, the influence of tire/road contact interface is accurately described by the non-linear relaxation length-based model and magic formula pragmatic model. The drive wheel model used in this paper is closer to that of a real tire in contrast to the rigid tire model which is widely used. Based on the near-precise model mentioned above, the sensitivity of the dynamic tire and I-PMSM parameters to the relative error of slip ratio estimation is analyzed. Additionally, the torsional and longitudinal vibrations of the drive wheel are presented both in time and frequency domains when a quarter vehicle is started under conditions of a specific torque curve, which includes an abrupt torque change from 30 N · m to 200 N · m. The parameters sensitivity on drive wheel vibrations is also studied, and the parameters include the mass distribution ratio of tire, the tire torsional stiffness, the tire damping coefficient, and the hysteresis band of the PMSM current control algorithm. Finally, different target torque curves are compared in the simulation, which shows that the estimation error of the slip ratio gets violent, and the longitudinal force includes more fluctuation components with the increasing change rate of the torque. This paper analyzes the influence of the drive wheel deformation on the vehicle dynamic control, and provides useful information regarding the electric vehicle traction control.
References
XU Yanliang, XU Jiaqun, WAN Wenbin, et al. Development of permanent magnet synchronous motor used in electric vehicle[C]//Electrical Machines and Systems. IEEE Proceedings of the Fifth International Conference on. ICEMS 2001, Shenyang, China, August 18–20, 2001: 884–887.
WALLMARK O, HAMEFORS L, CARLSON O. Control algorithms for a fault-tolerant PMSM drive[J]. IEEE Transactions on Industrial Electronics, 2007, 54(4): 1973–1980.
GULEZ K, ADAM A A, PASTACI H. Torque ripple and EMI noise minimization in PMSM using active filter topology and field-oriented control[J]. IEEE Transactions on Industrial Electronics, 2008, 55(1): 251–257.
FUJIMOTO H, TSUMASAKA A, NOGUCHI T. Direct yaw-moment control of electric vehicle based on cornering stiffness estimation[C]//31st Annual Conference of the IEEE Industrial Electronics Society, North Carolina, USA, November 6–10, 2005: 2626–2631.
KIM J, KIM H. Electric vehicle yaw rate control using independent in-wheel motor[C]//Power Conversion Conference, Nagoya-shi, Japan, April 2–5, 2007: 705–710.
SAKAI S, SADO H, HORI Y. Motion control in an electric vehicle with 4 independently driven in-wheel-motors[J]. IEEE/ASME Transaction Mechatronics, 1999, 4(1): 9–16.
CANUDAS-DE-WIT C, OLSSON H, ASTROM K J, et al. A new-model for control of systems with friction[J]. IEEE Transactions on Automatic Control, 1995, 40(3): 419–425.
TSOTRAS A, MAVROS G. Frictional contact behavior of the tyre: the effect of tread slip on the in-plane structural deformation and stress field development[J]. Vehicle Systems Dynamics, 2010, 48(8): 891–921.
VELENIS E, TSIOTRAS P, CANUDAS-DE-WIT C, et al. Dynamics tire friction models for combined longitudinal and lateral vehicle motion[J]. Vehicle System Dynamics, 2005, 43(1): 3–29.
CANUDAS-DE-WIT C, TSIOTRAS P, VELENIS E, et al. Dynamic friction models for Road/Tire longitudinal interaction[J]. Vehicle System Dynamics, 2003, 39(3): 189–226.
RILL G. First order tire dynamics[C]//Proceedings of the 3rd European Conference on Computational Mechanics Solids, Structures and Coupled Problems in Engineering, Lisbon, Portugal, June 5–8, 2006: 1–9.
PACEJKA H B. Tyre and vehicle dynamics[M]. Oxford: Butterworth-Heinemann, 2002.
PAUWELUSSEN J P, GOOTJES L, SCHRODER C, et al. Full vehicle ABS braking using the swift rigid ring tyre model[J]. Control Engineering Practice, 2003, 11(2): 199–207.
ADCOX J, AYALEW B, RHYNE T, et al. Interaction of anti-lock braking systems with tire torsional dynamics[C]//Meeting of the Tire Society, Akron, USA, September 13–14, 2011: 1–18.
MASTANDREA M, VANGI D. Influence of braking force in low-speed vehicle collisions[J]. Proc IMechE Part D: J Automobile Engineering, 2005, 219: 151–164.
FUJII K, FUJIMOTO H. Traction control based on slip ratio estimation without detecting vehicle speed for electric vehicle[C]//Proc. 4th Power Convers. Conf., Nagoya, Japan, April 2–5, 2007: 688–693.
FUJII K, FUJIMOTO H. Slip ratio estimation and control based on driving resistance estimation without vehicle speed detection for electric vehicle[J]. The Society of Instrument and Control Engineers, 2007, 084-1-3: 1–6.
ZHAO Yane, ZHANG Jianwu. Modeling and simulation of electronic differential system for an electric vehicle with two-motor-wheel drive[J]. International Journal of Vehicle Systems Modelling and Testing, 2009, 4: 117–131.
SYED F U, KUANG M L, HAO Ying. Active damping wheel-torque control system to reduce driveline oscillations in a power-split hybrid electric vehicle[J]. IEEE Transactions on Vehicular Technology, 2009, 58(9): 4769–4785.
BARTRAM, MAVROS G, BIGGS S. A study on the effect of road friction on driveline vibrations[J]. Proceedings of the Institution of Mechanical Engineers, Part K: Journal of Multi-body Dynamics, 2010, 224(4): 321–340.
MA Yan, ZHANG Kangkang, GU Jing, et al. Design of the control system for a four-wheel driven micro electric vehicle[C]//Proceedings of 5th IEEE Vehicle Power and Propulsion Conference, VPPC’ 09, Dearborn, MI, USA, September 7–10, 2009: 1813–1816.
PILLAY P, KRISHNAN R. Modeling, simulation and analysis of permanent magnet motor drives-Part I: The permanent magnet synchronous motor drive[J]. IEEE Transactions on Industry Applications, 1989, 25(2): 265–273.
DORRELL D G, NGU S S, COSSAR C. Comparison of high pole number ultra-low speed generator designs using slotted and airgap windings[J]. IEEE Transactions on Magnetics, 2012, 48(11): 3120–3123.
CHATTERJEE A, CUSUMANO J P, ZOLOCK J D. On contact-induced standing waves in rotating tires: experimental and theory[J]. Journal of Sound and Vibration, 1999, 227(5): 1049–1081.
ZEGELAAR P W A, PACEJKA H B. The in-plane dynamics of tyres on uneven roads[J]. Vehicle System Dynamics, 1996, 25(S1): 714–730.
Author information
Authors and Affiliations
Corresponding author
Additional information
Supported by National Natural Science Foundation of China (Grant Nos. 51275265, 51175286), and National Hi-tech Research and Development Program of China (863 Program, Grant No. 2012DFA81190)
SONG Ziyou, born in 1989, is currently a PhD candidate at State Key Laboratory of Automotive Safety and Energy, Tsinghua University, China. He received his bachelor degree in Automotive Engineering from Tsinghua University, China, in 2011. His research interests include in-wheel PMSM control of electric vehicles and hybrid energy storage system optimization.
LI Jianqiu, born in 1972, is currently a professor at Department of Automotive Engineering, Tsinghua University, China. He received his PhD degree in power mechanism and engineering from Tsinghua University, China, in 2000. His research interests include electronic control of diesel engine, key technology of automotive electronics, fuel cell and powertrain control.
WEI Yintao, born in 1971, is currently a professor at State Key Laboratory of Automotive Safety and Energy, Tsinghua University, China. He received his PhD degree in Engineering Mechanics from Harbin Institute of Technology, China, in 1997. His research interests include tire dynamic modeling and control.
XU Liangfei, born in 1982, is currently an associate professor at State Key Laboratory of Automotive Safety and Energy, Tsinghua University, China. He received his PhD degree in Engineering Mechanics from Tsinghua University, China, in 2006. His research interests include energy management of HEVs, EVs and FCVs.
OUYANG Minggao, born in 1958, is currently a professor at Department of Automotive Engineering, Tsinghua University, China. He received his PhD degree in mechanical engineering from Technical University of Denmark, Lyngby, in 1993. His research interests include new energy vehicles, automotive powertrains, engine control systems, and transportation energy strategy and policy.
Rights and permissions
About this article
Cite this article
Song, Z., Li, J., Wei, Y. et al. Interaction of In-wheel permanent magnet synchronous motor with tire dynamics. Chin. J. Mech. Eng. 28, 470–478 (2015). https://doi.org/10.3901/CJME.2015.0318.033
Received:
Revised:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.3901/CJME.2015.0318.033