20.500.12556/RUL-170943 Vehicle pitch dynamics control using in-wheel motors Implementation of in-wheel motors brings numerous advantages: decreased overall vehicle weight and manufacture cost, available accurate torque control for better road handling and powertrain high energy efficiency. Even so, when the motor is placed inside the wheel, the unsprung mass of the vehicle increases, leading to a less comfortable ride. This paper puts forward and studies a control system that takes advantage of the vertical component of the driving force provided by an in-wheel motor to enhance ride comfort and handling dynamics. The proportional integral (PI) controller was proposed to minimize the pitch acceleration response of the vehicle. Controller’s gains were optimized using the gradient descent method with sequential quadratic programing algorithm. A co-simulation approach and a dynamic model of the vehicle were presented. Data regarding the vehicle’s measurements was taken from a real car with in-wheel motors. The dynamic model of the car was validated based on the results derived during the road test experiment. Assessing the controller’s effectiveness, a co-simulation approach between the dynamic model and the control system was established. An acceleration test in a straight line showed a 25% increase in ride comfort as measured by the RMS pitch angular vibrations of the sprung mass. The control is attained with no increase in the tire load and the vehicle’s longitudinal dynamics. vehicle dynamics in-wheel motors ride comfort torque control driving force dinamika vozil kolesni motorji udobje vožnje nadzor momenta pogonska sila true false true Angleški jezik Slovenski jezik Članek v reviji 2025-07-23 07:20:18 2025-07-23 07:20:23 2025-07-24 04:05:53 0000-00-00 00:00:00 2025 0 0 14 str. iss. 5 Vol. 239 2025 0000-00-00 Zaloznikova Objavljeno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 629.3 0954-4070 10.1177/09544070231221600 185444099 Kopylov_..._Vehicle_Pitch_Dynamics.pdf Kopylov_..._Vehicle_Pitch_Dynamics.pdf 1 052892449B1A2776D2EF60A37C119496 12ea8a62d6e80d9aa1b6c251debbebdc3bb708e7b8dc6e335172824ab8e83612 df9155fc-6784-11f0-9328-0050569b8976 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=213238 https://journals.sagepub.com/doi/epdf/10.1177/09544070231221600 1 b8111438-6784-11f0-9328-0050569b8976 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=213236 Fakulteta za strojništvo 0 0 0