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341Vol.34,No.120142JournalofLiaoningUniversityofTechnology(NaturalScienceEdition)Feb.20142013111251305190L20132532011110419791,221.1210012.130025U469.72B1674-3261(2014)01-0048-06ReviewonElectricVehiclewithFour-wheelIndependentDriveIn-wheelMotorsLIGang1,2,ZONGChang-fu21.Automobile&TrafficEngineeringCollege,LiaoningUniversityofTechnology,JinzhouLiaoning121001,China;2.StateKeyLaboratoryofAutomotiveSimulationandControl,JilinUniversity,Changchun130025,ChinaAbstract:In-wheelmotorelectricvehicleisanimportantdevelopmentdirectionforfuturecars.Inviewofthepresentdevelopmentanditssituationinbothofthehomeandabroadasfarastheelectricvehiclewithfour-wheelindependentdriveisconcerned,acomprehensivediscussionwasmade.First,thecontrolstructureofthein-wheelmotorandin-wheelmotorelectricvehiclewasintroducedinthispaper.Second,thestudyofelectricvehiclewithfour-wheelindependentin-wheelmotorsathomeandabroadwasstated.Atlast,itpointedoutthattheoreticalstudyandpracticalexplorationarefurtherneededinstabilitycontrol,urbanconditionsenergycontrolfromtheproductizationaspectandtheintelligentcontrolbasedondrivercharacteristics,whichisanimportantdirectioninfutureresearch.Keywords:four-wheelindependentdrive,in-wheelmotor,electricvehicle,intelligentcontrol148341Protean11900[1]100212190090ABSTCSESC[1-3]3[4]2005MIEV4Hori“UOTElectricMarchI”“UOTElectricMarchII”[5-6][7]5NOVEL-INOVEL-DYCSBW[8]6149ELIICA[9]7/[10]82005Sequel[11]9Sequel[12]Volvo4[13]1011VolvoActivewheelActivewheelActivewheelProteanPMLBridgstoneSIEMENSVDO[14-16]12Activewheel25034[17][18]13Activewheel14[19]LQRWLS/[20-21]15[22][23][24]16[25][26]2010[27-28]1718[29]/151[30][31]R-v[32]ABS[33][34]3(1)[1-3](2)(3)(4)“”[1]SatoshiMurata.InnovationbyIn-Wheel-MotorDriveUnit.KeynotePresentation[C].AVEC10,2010.[2]SatoshiMurata.VehicleDynamicsInnovationwithIn-WheelMotor[C].SAEPaper,2011-39-7204.[3]JochenRauh,DieterAmmon.Systemdynamicsofelectrifiedvehicles:somefacts,thoughts,andchallenges[J].VehicleSystemDynamics,2011,49(7):10051020.[4]MakotoK,KevinW,HiroakiY.ImprovementofVehicleDynamicPerformancebyMeansofIn-WheelElectricMotors[M].MitsubishiMotorTechnicalReview,2006.[5]GengC,LotfiM,MouloudD,etal.Directyaw-momentcontrolofanin-wheel-motoredelectricvehiclebasedonbodyslipanglefuzzyobserver[C].IEEETrans.onIndusrialElectronics,2009.[6]KawashimaK,UchidaT,HoriY.Rollingstabilitycontrolutilizingrolloverindexforin-wheel-motorelectricvehicle[C].IEEJTrans.onIndustryApplications,2010.[7]WangY,NamK,FujimotoH,etal.Robustrollandyawintegratedcontrolusing4wheelsteeringbasedonyawmomentandlateralforceobservers[J]..IIC,,2011,134:2530.[8]Nagai,Masao.ThePerspectiveofResearchforEnhancingActiveSafetyBasedonAdvancedControlTechnology[J].JAutomotivesafetyandEnergy,2010,1(1):1422.[9]YINDejun,OMAEManabu,SHIMIZUHiroshi,etal.ActiveStabilityControlStrategyBasedonMaximumTransmissibleTorqueEstimation[J].JAutomotiveSafetyandEnergy,2011,2(1):3438.[10]NaokiAndo,HiroshiF.Yaw-rateControlforElectricVehiclewithActiveFront/RearSteeringandDriving/BrakingForceDistributionofRearWheels[C].The11thIEEEInternationalWorkshoponAdvancedMotionControl,2010.[11]RahmanKM,PatelNR.ApplicationofDirect-DriveWheelMotorforFuelCellElectricandHybridElectricVehiclePropulsionSystem[C].IEEETran.OnIndustryApplications,2006.[12]WangRongrong,ChenYan,FengDaiwei.Developmentandperformancecharacterizationofanelectricgroundvehiclewithindependentlyactuatedin-wheelmotors[J].JournalofPowerSources2011,196:39623971.[13]SigvardZ.ElectromechanicalSteering,Suspension,DriveandBrakeModules[C].IEEEVehicularTechnologyConference,2002.[14]GoNagaya.In-WheelMotorSystem[Z].USPatent,PatentNo:US7,287,611B2,2007.[15]AndyWatts,AndrewValance,AndrewWhitehead,etc.TheTechnologyandEconomicsofIn-wheel-Motors[C].SAEPaper,2010-01-2307.[16]Santiagode,DivJ.moreauthorsElectricalMotorDrivelinesinCommercialAll-ElectricVehicles:AReviewVehicularTechnology[J].IEEETransactions,2012,61(2):475484.[17]QIANHuihuan,TinLunLAM,WeiminLI,etal.SystemandDesignofanOmini-drectionalVehicle[C].InternationalConferenceonRoboticsandBiomimetics,2009.5234[18]QianHuihuan,XuGuoqing,YanJingyu,etc.EnenrgyManagementforFour-WheelIndependentDrivingVehicle[C].IEEE/RSJInternationalConfernce.onIntelligentRobotsandSystem,2010.[19]LuXiong,YuZhuping,YufengMeng.VehicleDynamicControlfora4In-Wheel-MotoredEVbasedonIdentificationofTireCorneringStiffness[C].AVEC10,2010.[20],,.[J].:,2008,36(8)11151119.[21],.[J].,2010,19(1):2731,39.[22],,.[J].:,2009,49(5):719722,727.[23],.[J].,2010,32(2):128132.[24],,,.[J].,2011,33(5):369372.[25],,.[J].:,2007,37(5):985989.[26].[J].:,2009,39(1):16.[27],,,.[J].:,2012,42(4):796802.[28].[D].:,2012.[29],.[J].,2009,43(10):15261530.[30].4WID/4WIS[D].:,2010.[31],.[J].,2010,32(12):15071062.[32],.R-v[J].,2009,21(24):78837890.[33],,,.ABS[J].,2007,29(12):10461050.[34].[D].:,2008.46[1]AustinL,MoneyD.RecentAdvancesinAntiloekBrakingSystemsandTractionControlSystems[J].ProcInstnMechEngrs,2000,214(4):625639.[2],.ABSPID[J].,2011,291(9):9293.[3],,.ABS[J].,2003,24:4952.[4],[M].:,2010.[5].[D].:,2009.[6].[D].:,2006.[7].ABS/EBD[D].:,2011.[8].[D].:,2