Torque control using integrated battery-electric vehicle model with flexible shaft

This paper presents an integrated battery-electric vehicle model with flexible shaft to involved battery dynamics into system. The torque control using integrated model to have more energy-efficient has been proposed. The linear quadratic integral (LQI) and PI control of the vehicle's torque have been designed. Simulations have been performed with observations on energy consumption based on mechanical energy formulation. The simulations show that the use of the integrated model in the control system design (LQI or PI) may result in more energy-efficient system in an electric vehicle application.