Experimental Research on Wheel Slip Control for the HEV In-Wheel Motor Along the Rough Terrain with Rectangular Obstacles


This paper presents experimental approach for a longitudinal wheel slip control scheme of the in-wheel motorized driving systems applied in the military series hybrid electric vehicles. Research on slip mechanism between a tire and ground needs to be modeled and simulated, to secure better vehicle driving performance in the field. Especially the effect of diverse gravels has to be precisely defined. A test rig is designed to test driving performances and to understand tire slip mechanism. The modeling and simulation results presented will be compared with experimental results by the test rig mimicking rectangular obstacles with different height. Based on modified modeling of tire slip mechanism, a wheel slip control to improve vehicle driving performance in the rough terrain with rectangular obstacles will be proposed.

Meeting Name

24th International Battery, Hybrid and Fuel Cell Electric Vehicle Symposium and Exhibition 2009, EVS 24 (2009: May 13-16, Stavanger, Norway)


Electrical and Computer Engineering

Research Center/Lab(s)

Electromagnetic Compatibility (EMC) Laboratory

Keywords and Phrases

Different heights; Driving performance; Driving systems; Experimental approaches; Experimental research; In-wheel; In-wheel motor

International Standard Book Number (ISBN)


Document Type

Article - Conference proceedings

Document Version


File Type





© 2009 Electric Vehicle Council, All rights reserved.

Publication Date

01 May 2009

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