System architecture and hierarchical control for in-wheel electric motor vehicles

Design of a four-wheel vehicle model using in-wheel permanent magnet synchronous motor (PMSM) based electric drives is outlined in the paper. System architecture, components and basic control principles are presented. The vehicle model is intended to be applied as an experimental platform to support control design processes in association with electric vehicles that use minimized level of mechanics, instead applying the benefits of electronics and digital control solutions. Realization of a 1:5 scaled model is concerned.