This paper presents a rear-wheel in-wheel motor driven medium speed and light electric vehicle modeling and control analysis integrating kinematics

dynamics and motor mechanical and electrical characteristics including longitudinal motion

lateral motion

yaw motion around

z

axis

rear-wheel driving force

motor speed and motor toque parameters. Rear-wheel longitudinal driving force is function of slip and side force is related to sideslip angle. Ackermann turning model is applied for ideal speed distribution with driving speed and two motor speeds as control and feedback variables. Responses of three loops PID model

one loop control model and original model are analyzed and compared by simulation under four driving conditions of forward driving with speed steps

forward driving with speed slope

turning angle step change with constant speed and turning angle sine change with constant speed for verification.