PLoS ONE, Год журнала: 2025, Номер 20(6), С. e0325125 - e0325125

Опубликована: Июнь 2, 2025

Vehicle 2-degree of freedom (DOF) kinematic and dynamic models are derived. The former, which uses fixed parameters, is often used for speed-based electronic differential control, but this method does not yield accurate results under varying running situations. In contrast, the latter, depends on tire adhesion limit to produce saturation force, typically adopted torque-based control. However, also faces many difficulties in real-time implementation, its theoretical maturity strong. To combine advantages control paper focuses speed optimum slip ratio as key factors. Additionally, address associated with nonlinear modeling by leveraging simplicity linear design study presents an based estimation all-electric vehicles in-wheel motors. It aims maintain maneuvering ability driver at maximum limit. Even when two driving wheels subjected uneven external disturbances from road surface, they a synchronous straight line or turning. Simulation validation confirms that proposed enhances safety motor electric urban scenarios involving adverse weather conditions (e.g., rain, snow, ice) aggressive lane-changing maneuvers. Experimental static performance controller capability drive wheels. These findings lay foundation improving extreme-condition adaptability through three future directions: adaptive dynamics integration, hierarchical energy-stability architectures, deployment validated via hardware-in-the-loop testing.

Язык: Английский