Comprehensive Modeling and Simulation of Longitudinal Dynamics in Electric Vehicles with In-Wheel BLDC Motors: Integration of Chassis, Motor, Inverter, and Tire-Pacejka Model

The aim of this paper is to model the longitudinal movement of electric vehicles (EVs) powered by in-wheel motors. The major contribution of this paper consists firstly in the development of a comprehensive nonlinear model that takes into account the dynamics of: (i) the brushless direct current (BLDC) in-wheel motor and the associated power converter; (ii) the vehicle chassis. Secondly, the developed model is validated by: (iii) implementing a linear cascade controller. The EV is modeled using fundamental mechanical laws and takes into account all relevant nonlinear effects, including the effects of aerodynamics, of rolling resistance and of road load. Tire behavior on the road is modeled using the Pacejka tire model, which captures the various phenomena that arise during tire-road contact. The developed nonlinear model proves to be an accurate representation of vehicle behavior in all driving modes and can be used to build simulators for EVs in longitudinal movement. The model provides a state space representation that can be used as a basis for designing the vehicle control system.