Proposal of novel motion control for In-wheel motor EV with reduction gear using load-side high-resolution encoder

Abstract

Electric vehicles have an advantage over internal combustion vehicles in that the forces applied to the wheel can be estimated from the wheel velocity and input torque. By exploiting this feature, the authors propose to apply force control, which is often used for industrial robots, to EVs in order to achieve much more human friendly EVs. Many applications of force control for EVs are possible. In this paper, novel hand parking assist control is proposed for in-wheel-motor with reduction gear. The position of the vehicle body is adjusted by the human hand outside vehicles. The high backdrivability is achieved by using impedance control and driving force control. External forces applied by human hands and driving forces are estimated by disturbance observer with high-resolution load-side encoder.