Study on control of an two hub-motor electric vehicle

This study presents different control methods to approach motions for an electric vehicle driven by two rear hub-motors. Vehicle dynamics modeling with 11 degree-of-freedom is constructed. Accordingly, simulation model is established in MATLAB/Simulink environment. Simulation is performed when PID controller, fuzzy-PID controller and no controller are used to the modeling respectively. Simulation results show that controllers can improve yaw rate and body roll when steering input is applied to the model. The proposed controllers are helpful to develop electric vehicles with hub-motors.