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Sensorless interior permanent magnet in-wheel motor (IPMIWM), as an exemplar of modular automation system, has attracted considerable interests in recent years. This paper aims to investigate a novel hybrid control approach for the sensorless IPMIWM from a cyber-physical systems (CPS) perspective.

The control approach is presented based on the hybrid dynamical theory. In the standstill-low (S-L) speed, the rotor position/speed signal is estimated by the method of the high frequency (HF) voltage signal injection. The least square support vector machine (LS-SVM) is used to acquire the rotor position/speed signal in medium-high (M-H) speed operation. Hybrid automata model of the IPMIWM is established due to its hybrid dynamic characteristics in wide speed range. A hybrid state observer (HSO), including a discrete state observer (DSO) and a continuous state observer (CSO), is designed for rotor position/speed estimation of the IPMIWM.

The hardware-in-the-loop testing based on dSPACE is carried out on the test bench. Experimental investigations demonstrate the hybrid control approach can not only identify the rotor position/speed signal with a certain load but also be able to reject the load disturbance. The reliability and the effectiveness of the proposed hybrid control approach were verified.

The proposed hybrid control approach for the sensorless IPMIWM promotes the deep combination and coordination of sensorless IPMIWM drive system. It also theoretically supports and extends the development of the hybrid control of the highly integrated modular automation system.

For high torque-density permanent magnet synchronous in-wheel motor, service life and electromagnetic performance are related directly to winding temperature. The purpose of this paper is to investigate the equivalent stator slot model to calculate the temperature of winding accurately.

This paper analyzes the the law of heat flux transfer in slot, which points the main influence factors of equivalent stator slot model. Thermal network model is used to investigate the drawbacks of conventional equivalent model. Based on the law of heat transfer in stator slot, a new layered winding model is put forward. According to winding type and property of impregnations, detailed method and equivalent principle of the new model are presented. The accuracy of this new method has been verified experimentally.

An accurate equivalent stator slot model should be built according to the low of heat transfer. According to theory analysis, the drawbacks of conventional equivalent stator slot model are pointed: it cannot reflect the temperature gradient of winding; the maximum and the average temperature of winding are much higher than actual value. For the new layered model, equivalent principle is related to winding type and property of impregnations, which makes the new model widely used.

This paper presents a new layered model, and shows detailed method, which is more meaningful for designers. The new layered model takes winding type and property of impregnations into account, which makes the new model widely used. It is verified experimentally that layered model is applicable to not only steady-state temperature field but also transient temperature field.

This paper is aimed at investigating the potential advantages of flux‐switching machines (FSM) compared to permanent magnet synchronous machines (PMSM), particularly for the applications of electric vehicle traction.

A 12‐slot 14‐pole PMSM designed for an in‐wheel traction application is chosen for the comparison. With the same volume constraint, three 12/14 FSM structures are created. Both the PMSM and the three FSM structures are modeled using the software Flux. Based on these models, finite element analyses (FEA) are performed, and the results are compared in terms of open‐circuit back electromotive force (EMF), electrical loading capability, and thermal conditions.

Within the same volume constraint, a 12/14 FSMs can achieve the maximum torque higher than the one of 12/14 PMSM. This conclusion is drawn based on the observed facts that at the same rotor speed, a larger open‐circuit back EMF is induced in the FSM, while a larger electrical loading is also allowed in this machine, compared to the PMSM. In addition, the risk of demagnetization during the process of field weakening proves to be lower in FSMs than PMSMs. This advantage suggests a potentially wide constant power speed range (CPSR) of FSMs, which is especially beneficial in automotive applications.

This research can be continued with investigating the field weakening capability and iron losses of FSMs.

This paper proposed two optional structures of FSMs to reduce the amount of permanent magnets. It also highlighted the effectiveness of FSMs in cooling these magnets.

The purpose of this paper is to present comparative analysis of several configurations of the switched reluctance motor (SRM) for an in-wheel drive for a heavy-duty automotive series hybrid system. The SRM motor is regarded as one of the primary candidates for possible replacement of the permanent magnet (PM) motor.

Three SRMs of 10/8, 12/10 and 12/8 configurations have been analysed, where the last two motors had the stator lamination profile taken from the existing PM motor. The analysis is performed using magnetostatic FEM and transient modelling techniques.

The maximum developed electromagnetic torque of the two analysed motors of 12/10 and 12/8 SRM configurations with the stator lamination profile taken from the existing PM motor is limited due to saturation of the stator yoke. Both motor configurations are capable to provide the specified power within the same outer dimensions due to extended speed in the field-weakening region and position independent starting torque. A redesigned stator results in substantial increase in torque developed by the machine and, consequently, ability to provide similar torque-speed performance as the existing PM motor, at cost of increased copper loss at the low-speed regime.

The paper proposes several structures of SRMs for the in-wheel drive for a heavy-duty automotive series hybrid system converted from the present expensive PM machine, having the same power density. The “bottleneck” of the direct conversion of the PM machine into the SRM is highlighted.

This paper aims to find the optimal winding topology for a 14‐pole permanent magnet synchronous motor (PMSM) to be used as an in‐wheel motor in automotive applications.

Comparison is first performed among lap windings with different combinations of slot numbers and pole numbers. A general method for calculating the winding factors using only these numbers is proposed, thus the preferable slot numbers resulting in relatively large winding factors for this 14‐pole PMSM are found. With these slot numbers, the Joule losses of armature windings are further investigated, where the impacts of different end‐winding lengths are considered. By this means, the optimal slot number that causes the least Joule loss is obtained. On the other hand, as a competitor to lap windings, toroidal windings are also discussed. The thermal performances of these two types of windings are compared by performing a finite element analysis (FEA) on their 2‐D thermal models.

For the 14‐pole in‐wheel PMSM discussed in this paper, the preferable slot numbers leading to relatively large winding factors are 12, 15 and 18. However, with the specified geometry constraints, the optimal choice of slot number is 15, which results in the least Joule loss and thus the highest efficiency. On the other hand, by implementing the toroidal winding topology, the armature windings of this machine can be effectively cooled and thus allow a larger electrical loading than the lap windings do.

This work can be continued with investigating the impacts of different combinations of slot number and pole number on harmonics and cogging torques.

This paper proposes a general method for calculating the winding factor of PMSMs using only the phase number, the slot number, and the pole number. With this method, the calculation procedure can be easily programmed and repeated.

The purpose of this paper is to discuss the performance of a proposed machine design for an in‐wheel motor with the required torque‐speed characteristic.

Calculation of the winding factor of the machine with the star of slots theory is performed first. The field weakening capability of the machine is investigated and the operating speed range is determined. The tooth contour modeling method for calculating the performance of the machine with a limited number of elements is introduced. The method is used to construct two models of different complexity and the results obtained with the models are compared with the results obtained by finite element models.

The 14 pole 12 slot in‐wheel PMSM discussed in this paper is able to meet the stringent performance requirements. The results obtained with the tooth contour models show good agreement with the results obtained with finite element models despite the limited number of elements. Increasing the number of elements in the model allows for modeling of armature reaction and increases the accuracy of the model.

This work can be continued with investigating the possibilities to model the armature reaction more accurately.

This paper proposes a modeling method which accurately describes the performance of a PMSM with limited number of elements. With this method, the calculation procedure can be easily used for optimization of the machine design.

The purpose of this paper is to investigate winding topologies for flux-switching motors (FSMs) with various segment-tooth combinations and different excitation methods.

For the ac winding of FSM, two winding topologies, namely the concentrated winding and the distributed winding, are compared in terms of the winding factor and efficiency. For the field winding of dc-excited FSM (DCEFSM), another two winding topologies, namely the lap winding and the toroidal winding, are compared in terms of effective coil area, end-winding length, and thermal conditions. Analytical derivation is used for the general winding factor calculation. The calculation results are validated using finite element analysis.

Winding factors can be used as an indication of winding efficiency for FSMs in the same manner as done for synchronous motors. For FSMs with concentrated windings, the winding factor increases when the rotor tooth number approaches a multiple of the stator segment number. For FSMs with certain segment-tooth combinations, e.g. 6/8, the theoretical maximum winding factor can be achieved by implementing distributed windings. Furthermore, the toroidal winding can be an efficient winding topology for DCEFSMs with large stator diameter and small stack length.

This work can be continued with investigating the variation of reluctance torque with respect to different segment-tooth combinations of FSM.

This paper proposes a general method to calculate the winding factor of FSMs using only the phase number, the stator segment number, the rotor tooth number, and the skew angle. Using this method, a table of winding factors of FSMs with different segment-tooth combinations is provided. Principle of design of FSMs with high-winding factors are hence concluded. This paper also proposed the implementation of distributed windings for FSM with certain segment-tooth combinations, e.g. 6/8, by which means a theoretical maximum winding factor is achieved. In addition, different winding topologies for the field winding of DCEFSM are also investigated.

The purpose of this paper is to investigate problems in performing stable lane changes and to find a solution to reduce energy consumption of autonomous electric vehicles.

An optimization algorithm, model predictive control (MPC) and Karush–Kuhn–Tucker (KKT) conditions are adopted to resolve the problems of obtaining optimal lane time, tracking dynamic reference and energy-efficient allocation. In this paper, the dynamic constraints of vehicles during lane change are first established based on the longitudinal and lateral force coupling characteristics and the nominal reference trajectory. Then, by optimizing the lane change time, the yaw rate and lateral acceleration that connect with the lane change time are limed. Furthermore, to assure the dynamic properties of autonomous vehicles, the real system inputs under the restraints are obtained by using the MPC method. Based on the gained inputs and the efficient map of brushless direct-current in-wheel motors (BLDC IWMs), the nonlinear cost function which combines vehicle dynamic and energy consumption is given and the KKT-based method is adopted.

The effectiveness of the proposed control system is verified by numerical simulations. Consequently, the proposed control system can successfully achieve stable trajectory planning, which means that the yaw rate and longitudinal and lateral acceleration of vehicle are within stability boundaries, which accomplishes accurate tracking control and decreases obvious energy consumption.

This paper proposes a solution to simultaneously satisfy stable lane change maneuvering and reduction of energy consumption for autonomous electric vehicles. Different from previous path planning researches in which only the geometric constraints are involved, this paper considers vehicle dynamics, and stability boundaries are established in path planning to ensure the feasibility of the generated reference path.

Metro wheels running on different lines can undergo wear at different positions. This paper aims to investigate the effects of wheel wear at two typical positions, i.e. wheel flange and tread, on the dynamic performance of metro vehicles and analyzes the differences, with an aim of providing theoretical support on wheel reprofiling for different metro lines.

Wheel profile data were measured on two actual metro lines, denoted A and B. It was observed that wheel wear on Lines A and B was concentrated on flanges and treads, respectively. A metro vehicle dynamics model was built using multibody dynamics software SIMPACK. Then it was applied to analyze the differences in effects of wheel wear at different positions on vehicle dynamic performance (VDP) for various speeds (50, 60 and 70 km/h) and line conditions (straight line, R1000m, R600m and R300m curves). Critical speed and vibration acceleration were used as indicators of VDP during linear motion (on straight track), while VDP during curvilinear motion (on curved track) was evaluated in terms of wheel/rail lateral force, wheel/rail vertical force, derailment coefficient and wheel unloading rate.

First, compared to wheel profile with tread wear, wheel profile with flange wear showed better performance during linear motion. When the distance traveled reached 8 × 104 and 14 × 104 km, the vehicle’s critical speed was 12.2 and 21.6% higher, respectively. The corresponding vertical and lateral vibration accelerations were 59.7 and 74.8% lower. Second, compared to wheel profile with flange wear, that with tread wear showed better performance during curvilinear motion, with smaller wheel/rail lateral force, derailment coefficient and wheel unloading rate. When the vehicle speed was 50, 60 and 70 km/h, the maximum difference in the three indicators between the two wheel profiles was 40.2, 44.7 and 23.1%, respectively. For R1000m, R600m and R300m curves, the corresponding maximum difference was 45.7, 69.0 and 44.4%, respectively.

The results of the study can provide a guidance and theoretical support on wheel reprofiling for different metro lines. On lines with large proportions of curved sections, metro vehicles are more prone to wheel flange wear and have poorer dynamic performance during curvilinear motion. Therefore, more attention should be paid to flange lubrication and maintenance for such lines. On lines with higher proportions of straight sections, metro vehicles are more prone to tread wear and have poorer performance on straight sections. So, tread maintenance and service requires more attention for such lines.

Existing research has focused primarily on the effects of wheel wear on VDP, but fails to consider the differences in the effects of wheel wear at different positions on VDP. In actual metro operation, the position of wheel wear can vary significantly between lines. Based on measured positions of wheel wear, this paper examines the differences in the effects of wheel wear at two typical positions, i.e. tread and flange, on VDP in detail.

Transient torque calculations of the parallel flux switching machines, both cogging and electromagnetic, require a long simulation time for transient analyses. This paper seeks to present an optimization method for the accurate but time consuming transient models.

A superposition principle is used to optimize the simulation time of the machine model. Finite element method (FEM) is chosen as the example machine model, since it is widely used among researchers for its accuracy. The machine geometry is simplified by reducing the number of rotor teeth, because these parts are re‐meshed with each transient step. Torque results are compared to the full machine model to find the best representation.

Among compared simplified machine geometries, the two teeth model gives the most accurate results.

The superposition method requires a modelling method such as FEM. The method offers a geometrical simplification of the machine, not a complete model.

Parallel flux switching machines should be considered as promising candidates for hybrid and electrical truck applications due to their high power density. For these kind of applications, a fast torque estimation tool helps greatly in investigating noise related mechanical problems, which have a direct effect in passenger comfort.

Whereas researchers in this area mainly focus on accurate but time‐consuming modeling of this nonlinear machine, this research shows an optimization of these methods to speed‐up them. The proposed optimization method can be integrated with any analytical or numerical machine model.