Model Validation and Control of an In-Wheel DC Motor Prototype for Hybrid Electric Vehicles

In this paper, a mathematical model and a controller for a DC motor are developed for the construction of an in-wheel motor. In-wheel motors can be used in hybrid electric vehicles to provide traction force of front or rear wheels. The model identification is achieved using a simple and low cost data acquisition system. An Arduino Uno embedded board system is used to collect data from sensors to a computer and for control purposes. Data processing is performed using Matlab/Simulink. Validations of the developed mathematical model and controller performance are carried out by comparing simulation and experimental results. The results obtained show that the mathematical model is accurate enough to assist in speed controller design and implementation.