Relevant bibliographies by topics / Real-wheel drive

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  1. Journal articles
  2. Dissertations / Theses
  3. Conference papers

Academic literature on the topic 'Real-wheel drive'

Author: Grafiati
Published: 4 June 2021
Last updated: 1 February 2022

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Journal articles on the topic "Real-wheel drive"

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Pal, Bishwajit, and Samitha Khaiyum. "Wheel Slip Detection for Electric Drive in Planetary Exploration Vehicles." Journal of Computational and Theoretical Nanoscience 17, no. 9 (July 1, 2020): 4122–24. http://dx.doi.org/10.1166/jctn.2020.9030.

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This article illustrates a technique for tracking longitudinal wheel slips in real time using an embedded microcontroller to map current consumption against real-time current consumed by the engine. This system can be used and operated separately of each other on more than one wheel. To detect wheel slippage, a predefined slip curve mapped to a specific DC electric motor is mapped against the current consumed by the same operational motors. This paper also recommends a convenient control algorithm to calculate its slippage of the wheel in real time. This approach is implemented using distinct load and terrain on a planetary exploration robot.
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Gang, Li, and Yang Zhi. "Energy saving control based on motor efficiency map for electric vehicleswith four-wheel independently driven in-wheel motors." Advances in Mechanical Engineering 10, no. 8 (August 2018): 168781401879306. http://dx.doi.org/10.1177/1687814018793064.

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For four-wheel independently driven in-wheel motor electric vehicles, the four-wheel drive/braking torque can be controlled independently. Therefore, it has an advantage that energy saving control can be applied effectively. This article studies several energy saving control methods from two levels of driving and braking for four-wheel independently driven in-wheel motor electric vehicles under urban conditions based on the motor efficiency map. First, the energy saving control logic and the evaluation index were proposed in the article. The four-wheel drive torque was online optimized in real time through drive energy saving control, in order to improve the driving efficiency in the driving process of electric vehicles. According to the theory of ideal braking force distribution and Economic Commission of Europe braking regulations, the parallel regenerative braking control method based on the motor efficiency map was then studied. The parallel regenerative braking control method was applied to four-wheel independently driven in-wheel motor electric vehicles. The simulation analysis under typical urban driving cycle conditions was carried out to determine the braking intensity of the parallel brake front axle separate regenerative braking, and finally the braking energy recovery rate of electric vehicle can be improved in the low speed and low braking torque. Finally, simulation experiments have been carried out to verify the researched method under the NEDC, UDDS, and J1015 urban driving cycles. The simulation results show that the energy saving control methods have an obvious effect on energy saving under the urban driving cycle conditions.
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Nezhadali, V., B. Frank, and L. Eriksson. "Wheel loader operation—Optimal control compared to real drive experience." Control Engineering Practice 48 (March 2016): 1–9. http://dx.doi.org/10.1016/j.conengprac.2015.12.015.

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Bozic, Milos, Sanja Antic, Vojislav Vujicic, Miroslav Bjekic, and Goran Djordjevic. "Electronic gearing of two DC motor shafts for Wheg type mobile robot." Facta universitatis - series: Electronics and Energetics 31, no. 1 (2018): 75–87. http://dx.doi.org/10.2298/fuee1801075b.

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This paper describes the implementation of electronic gearing of two DC motor shafts. DC motors are drives for a mobile robot with wheels in the form of wheel - leg (Wheg) configuration. A single wheel consists of two Whegs (dWheg). The first DC motor drives one Wheg, while the second one drives another independent Wheg. One motor serves as the master drive motor, while the other represents the slave drive motor. As the motors are independent, it is necessary to synchronize the speed and adjust the angle between shafts. The main contribution of this paper is the implementation of control structure that enables the slave to follow the master drive, without mechanical coupling. Based on encoder measurements, the slave effectively follows the master drive for the given references of speed and angle. Speed and positioning loops are implemented on real time controller - sbRIO. The laboratory setup was created and comparison of realized and required angles and speeds was made.
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Fu, Xiang, Di Xu, and Yong He. "Design and Development of Test-Bed of Motor-Wheel-Drive Electric Vehicle." Applied Mechanics and Materials 321-324 (June 2013): 1535–38. http://dx.doi.org/10.4028/www.scientific.net/amm.321-324.1535.

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In this paper, firstly, the function of test-bed of motor-wheel-drive Electric Vehicle has been clarified, the frame structures of test-bed has been designed and built. Secondly, control algorithm of motor-wheel-drive Electric Vehicle has been established, including vector control algorithm model, digital PID algorithm model and electronic differential control algorithm model, the control system of test-bed has been designed. Lastly, based on the test bed, the control algorithm of motor-wheel-drive Electric Vehicle has been verified by bench test. The bench test results show that, the control algorithm of motor-wheel-drive Electric Vehicle can achieve straight-ahead control and steering control, which laid the foundation for the future of the real vehicle tests.
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He, Gang, and Li Qiang Jin. "Drive and Brake Joint Control of Acceleration Slip Regulation Road Test." Advanced Materials Research 971-973 (June 2014): 454–57. http://dx.doi.org/10.4028/www.scientific.net/amr.971-973.454.

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Based on the independent design front wheel drive vehicle traction control system (TCS), we finished the two kinds of working condition winter low adhesion real vehicle road test, including homogenous pavement and separate pavement straight accelerate, respectively completed the contrastive experiment with TCS and without TCS. Test results show that based on driver (AMR) and brake (BMR) joint control ASR system worked reliably, controlled effectively, being able to control excessive driving wheel slip in time, effectively improved the driving ability and handling stability of vehicle.
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Zhao, Ming Hui, Lian Dong Wang, Chao Liu, Rong Xin Chen, and Shuai Yang. "The Research of Driving Force Distribution under Identical-State-Control while 4WID-EV Driving Straight." Applied Mechanics and Materials 130-134 (October 2011): 1948–52. http://dx.doi.org/10.4028/www.scientific.net/amm.130-134.1948.

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The strategy of 4-wheel-identical-state-control is proposed on the designed 4-wheel-independent-driven electric vehicle (briefed as 4WID-EV), the working states of each wheel are adjusted to be the same through controlling the ratio of drive-force and vertical-load on them as equal as possible, the co-simulation of ADAMS and Matlab/Simulink is done about the 4WID-EV driving on the straight flat road and slopes. The real vehicle test is performed. The result indicates that the strategy of identical-state-control can control each wheel slip ratio to be equal, make each wheel working in phase, reduce the power loss, improve the vehicle power property, and achieve the aim of good driving force distribution.
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Zaitsev, Alexander. "Resource Assessment of Spiroid Gears Under Variable Loading Conditions." E3S Web of Conferences 157 (2020): 01007. http://dx.doi.org/10.1051/e3sconf/202015701007.

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The brief analysis of reasons of failure of mechanisms and drives of lifting, construction, and road-building machines based on engagement drives, and worm-gear class drives, represented by contact destructions of active surfaces of cog-wheel cogs resulting in malfunctions, breakages, failures, such as wear and furrows, was carried out. The need to create a method for calculating the wear of spiroids with regard of variable loading mode and time was substantiated. The method developed allows, with regard of real modes of operation of handling machinery, equipment and machines, determine the wear intensity values and calculate the spiroid gear drive resource with regard of duration of action of diving torque values in accordance with the set variable loading schedule for lifting, construction, and road-building machines under the wear intensity of the spiroid wheel cog on values of driving torque on the spiroid gear drive output shaft, obtained from experiments.
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Chen, Ruinan, and Jian Ou. "A hybrid fault-tolerant control strategy for four-wheel independent drive vehicles." Advances in Mechanical Engineering 13, no. 9 (September 2021): 168781402110454. http://dx.doi.org/10.1177/16878140211045486.

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In this paper, a hybrid fault-tolerant control strategy is putted forward to improve the stability of the four-wheel independent drive (4WID) electric vehicle with motor failures. To improve the handling performance of the vehicle with in-wheel motor failures, the faults of in-wheel motors are analyzed and modeled. Then, a model reference adaptive fault observer was designed to observe the faults in real-time. Based on the observation results, there are designed a model predictive control (MPC) based high-performance active fault-tolerant control (AFTC) strategy and a sliding mode control based high-robust passive fault-tolerant control (PFTC) strategy. However, the fault observation results may not always be accurately. For this circumstance, a hybrid fault-tolerant control strategy was designed to make the control method find a balance between optimality and robustness. Finally, a series of simulations are conducted on a hardware-in-loop (HIL) real-time simulator, the simulation results show that the control strategy designed in this paper is effectiveness.
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Jung, Hojin, and Seibum B. Choi. "Real-Time Individual Tire Force Estimation for an All-Wheel Drive Vehicle." IEEE Transactions on Vehicular Technology 67, no. 4 (April 2018): 2934–44. http://dx.doi.org/10.1109/tvt.2017.2779155.

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Dissertations / Theses on the topic "Real-wheel drive"

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Kalábová, Barbora. "Porovnání jízdních vlastností vozidel." Master's thesis, Vysoké učení technické v Brně. Ústav soudního inženýrství, 2013. http://www.nusl.cz/ntk/nusl-232736.

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This thesis deals with the analysis of the car driving characteristics depending on the type of drive wheels. The first chapter defines the basic theoretical cars concept as well as procedures for determining the individual variables needed to identify the driving dynamics of vehicles. The practical part describes the plan and the progress of realized measurements on a selected pattern of vehicles, and the measured values are interpreted. The final part deals with the evaluation of the performed measurements and the data identified within these measurements.
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Conference papers on the topic "Real-wheel drive"

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Sleight, Randy, and Sunil K. Agrawal. "Dynamic Model of a Four-Wheel-Drive HMMWV." In ASME 2004 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2004. http://dx.doi.org/10.1115/detc2004-57444.

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There is a need for HMMWV dynamic models for autonomous control of these vehicles. Currently, such four-wheel-drive vehicle models are unavailable. This paper derives the kinematics, dynamics and computation aspects of the problem. The subsystem models, e.g. tire, brake and powertrain, are presented as well. Our results show agreement with published simulations of the HMMWV. The current simulations in Mat-lab execute 30 times slower than real-time. Future work will implement this model in a planning algorithm for autonomous vehicle control.
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Khan, Maham, Saad Hassan, Syed Irfan Ahmed, and Jamshed Iqbal. "Stereovision-based real-time obstacle detection scheme for Unmanned Ground Vehicle with steering wheel drive mechanism." In 2017 International Conference on Communication, Computing and Digital Systems (C-CODE). IEEE, 2017. http://dx.doi.org/10.1109/c-code.2017.7918961.

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Tehrani, Mohammad Gerami, Juho Montonen, Paula Immonen, Simo Sinkko, Esa-Pekka Kaikko, Jarkko Nokka, Jussi Sopanen, and Juha Pyrhönen. "Application of Hub-Wheel Electric Motor Integrated With Two Step Planetary Transmission for Heavy Off-Road Vehicles." In ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2015. http://dx.doi.org/10.1115/detc2015-47030.

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An integrated electro-mechanical drive train component for heavy duty vehicles in off-road applications is presented. The component utilizes a two-step transmission and a tooth-coil permanent magnet motor and has compact size enabling in-wheel installation. The driveline design procedure is surveyed to explore the advantages of a geared electric motor in electric drivelines. Multibody dynamic simulation is applied to verify the functionality of the driveline. A vehicle generic model that is compatible with a multibody simulator program is developed to describe the performance of the proposed driveline in different vehicles. A co-simulation procedure is applied to combine the electric motor and vehicle body simulation models. It is shown that the co-simulation can be performed in real-time, thus enabling a human driver to control the vehicle. A comparison is made of the rear wheel drive and wheel mounted electric motor from the efficiency and performance points of view. The power consumption of vehicles with different driveline architectures is calculated to diagnose the weak points of the system and enhancement solutions are proposed.
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Salama, Mostafa, and Vladimir V. Vantsevich. "An Individual Wheel Inverse Dynamics-Based Control Algorithm of a UGV in Stochastic Terrain Conditions." In ASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2014. http://dx.doi.org/10.1115/detc2014-34518.

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An All-Wheel Drive Unmanned Ground Vehicle (UGV) equipped with individual electric motors for each wheel offers tremendous potential to control indirectly the torque delivered to each individual wheel and thus control UGV energy efficiency and mobility. The objective of this study is to develop an analytical method for a single wheel angular velocity control that is based on inverse longitudinal dynamics of a quarter-of-vehicle. The method includes a stochastic terrain model and an inverse dynamics-based control algorithm of a UGV single pneumatic wheel to overcome stochastic terrain behavior. A stochastic terrain mathematical model was developed and used as a disturbance load in the control algorithm to introduce the on-line (real time) influence of the terrain conditions on a single wheel of UGV. The control algorithm is based on a developed strategy that utilizes the inverse dynamics approach and the wheel torque control that provides a wheel with both the specified/required angular velocity and rolling radius. Such an approach opens up new ways of optimization and control of both unmanned ground vehicle dynamics and vehicle performance by distributing power between the drive wheels.
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Salama, Mostafa, and Vladimir V. Vantsevich. "A Parallel Control of Four Independently Driven Wheels to Maintain UGV Inverse Dynamics." In ASME 2014 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2014. http://dx.doi.org/10.1115/imece2014-36441.

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An All-Wheel Drive Unmanned Ground Vehicle (UGV) equipped with individual electric motors for each wheel offers tremendous potential to control the angular velocity for each individual wheel and thus control UGV energy efficiency. The objective of this study is to develop an analytical method for a UGV angular velocity control that is based on inverse longitudinal dynamics in straight line motion to indirectly provide the required torque for each wheel to overcome wheel load torque produced from the stochastic terrain. A stochastic terrain mathematical model was developed and used as a disturbance load in the control algorithm to introduce the on-line (real time) influence different terrain conditions on each wheel of UGV. The control algorithm is based on a developed strategy that utilizes the inverse dynamics approach and provides a wheel with both the specified/required angular velocity and rolling radius. At the same time, the required functional of quality is provided during the control process. Such an approach provides a new way to control unmanned ground vehicle dynamics and vehicle performance by concentrating on the individual power distribution to the drive wheels.
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Salama, Mostafa, and Vladimir V. Vantsevich. "Mechatronics Implementation of Inverse Dynamics-Based Controller for an Off-Road UGV." In ASME 2015 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2015. http://dx.doi.org/10.1115/imece2015-51010.

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This paper presents a project developed at the University of Alabama at Birmingham (UAB) aimed to design, implement, and test an off-road Unmanned Ground Vehicle (UGV) with individually controlled four drive wheels that operate in stochastic terrain conditions. An all-wheel drive off-road UGV equipped with individual electric dc motors for each wheel offers tremendous potential to control the torque delivered to each individual wheel in order to maximize UGV slip efficiency by minimizing slip power losses. As previous studies showed, this can be achieved by maintaining all drive wheels slippages the same. Utilizing this approach, an analytical method to control angular velocities of all wheels was developed to provide the same slippages of the four wheels. This model-based method was implemented in an inverse dynamics-based control algorithm of the UGV to overcome stochastic terrain conditions and minimize wheel slip power losses and maintain a given velocity profile. In this paper, mechanical and electrical components and control algorithm of the UGV are described in order to achieve the objective. Optical encoders built-in each dc motor are used to measure the actual angular velocity of each wheel. A fifth wheel rotary encoder sensor is attached to the chassis to measure the distance travel and estimate the longitudinal velocity of the UGV. In addition, the UGV is equipped with four electric current sensors to measure the current draw from each dc motor at various load conditions. Four motor drivers are used to control the dc motors using National Instruments single-board RIO controller. Moreover, power system diagrams and controller pinout connections are presented in detail and thus explain how all these components are integrated in a mechatronic system. The inverse dynamics control algorithm is implemented in real-time to control each dc motors individually. The integrated mechatronics system is distinguished by its robustness to stochastic external disturbances as shown in the previous papers. It also shows a promising adaptability to disturbances in wheel load torques and changes in stochastic terrain properties. The proposed approach, modeling and hardware implementation opens up a new way to the optimization and control of both unmanned ground vehicle dynamics and vehicle energy efficiency by optimizing and controlling individual power distribution to the drive wheels.
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Zhao, Xin, Zili Li, and Rolf Dollevoet. "An Investigation on Elastic-Plastic Rolling Contact Over Rough Surfaces Using a 3-D Dynamic Finite Element Model." In STLE/ASME 2008 International Joint Tribology Conference. ASMEDC, 2008. http://dx.doi.org/10.1115/ijtc2008-71091.

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A full-scale 3-D dynamic finite element (FE) model is created to solve the elastic-plastic wheel-rail rolling contact over rough surfaces under different friction forces. Both normal and tangential loads are applied properly. A bi-linear plastic material model is introduced and the real wheel and rail head geometries are simulated. The rolling of a drive wheel with full friction exploitation over a rough contact surface is analyzed in this paper. The stress distributions at the zone with rough surface are derived. From the results at a selected instant, it is found that roughness significantly increases the stress level of the surface layer. Furthermore, plasticity can greatly reduce stress peaks and change stress distributions. The maximum shear stress distribution at the rough surface is also analyzed to assess effects of roughness on fatigue crack initiation.
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Alcázar-García, Désirée, and Luis Romeral Martínez. "Energy Consumption and Total Vehicle Efficiency Calculation Procedure for Electric Vehicles (EV, HEV and PHEV)." In ASME 2018 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2018. http://dx.doi.org/10.1115/detc2018-85182.

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An important question regarding vehicles design optimization and environmental care are energy management strategy and efficiency determination. Automotive brands work with a wide range of technologies and electrified mobility is considered to be one of the solutions to the growing environmental question. The present paper develops a mathematical model to predict the light-duty electric vehicle overall consumed energy depending on architecture and configuration of vehicles with different degrees of electrification (e.g. electric vehicle and hybrid electric vehicle), on the type of electric motor (e.g. hybrid synchronous electric motor, permanent magnet motor or induction motor) and engine (e.g. gasoline (Otto or Atkinson) or Diesel), on technology of energy-storage system (e.g. lithium-ion or nickel-metal hydride battery) and on weight and geometry of the car being flexible drive cycles and for all types of wheel drive (four wheel, front and rear). The method is verified making a component-to-component revision through real automobiles that are available in the market to demonstrate the validity of the system.
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Tatoglu, Akin. "Parameter Identification and Closed Loop Control of a Flywheel Mounted Hovering Robot." In ASME 2017 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2017. http://dx.doi.org/10.1115/imece2017-71877.

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A prototype of a hovering multi-terrain mobile robot platform that makes use of a flywheel for stabilization and heading control for rapid maneuverability was developed and presented in a prior paper. It was shown that flywheel stored energy could be transferred to the overall body to generate rapid angular motion once wheel is instantaneously stopped. Solution improved localization accuracy and reduced the overall sensitivity with respect to external disturbances such as non-flat terrain. In this paper, we present a feedback control system to measure dynamic parameters before and after the wheel is stopped. System is designed to follow a predefined path plan and instantaneous torque change causes oscillation after a waypoint is reached. To address this issue, we updated system with an inertial measurement unit (IMU) as a feedback sensor. Then, we investigate the feedback control of individual forward thrust vectors as well as wheel braking timing to minimize amplitude of transient response oscillation and to reduce the steady-state error to an acceptable level that differential drive fans could compensate this error and correct the heading after the rotation around a waypoint occurs. In addition to that, previous mechanical system could transfer all energy stored at once and was not adjustable. In this research, we also investigate varying amount of angular inertia generated by fans and wheel individually and together. To do so, system is modified with stronger forward thrusters. Prior to running the system with a full dynamic model with real mechanism, we implemented a simulation to empirically extract system parameters and adjust controller gains to follow a predefined path with open and closed loop control schemas with objective of minimizing localization error. Finally system is tested with real mechanism. Governing equations, simulation and empirical results comparison are presented and generated trajectories of various simulation and real world settings are listed. Test results verify that, with a closed loop control system, overshoot and total error about a waypoint can be minimized to an acceptable level at and after transient response phase.
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Velazquez Alcantar, Jose, Francis Assadian, Ming Kuang, and Eric Tseng. "Optimal Longitudinal Slip Ratio Allocation and Control of a Hybrid Electric Vehicle With eAWD Capabilities." In ASME 2016 Dynamic Systems and Control Conference. American Society of Mechanical Engineers, 2016. http://dx.doi.org/10.1115/dscc2016-9629.

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This paper introduces a Hybrid Electric Vehicle (HEV) with eAWD capabilities via the use of a traditional Series-Parallel hybrid transaxle at the front axle and an electric Rear Axle Drive (eRAD) unit at the rear axle. Such a vehicle requires proper wheel torque allocation to the front and rear axles in order to meet the driver demands. A model of the drivetrain is developed using Bond Graphs and is used in co-simulation with a vehicle model from the CarSim software suite for validation purposes. A longitudinal slip ratio control architecture is proposed which allocates slip ratio to the front and real axles via a simple optimization algorithm. The Youla parametrization technique is used to develop robust controllers to track the optimal slip targets generated by the slip ratio optimization algorithm. The proposed control system offers a unified approach to longitudinal vehicle control under both traction and braking events under any road surface condition. It is shown in simulation that the proposed control system can properly allocate slip ratio to the front and rear axles such that tires remain below their force saturation limits while vehicle acceleration/braking is maximized while on a low friction road surface.
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