Driving Control Research for Longitudinal Dynamics of Electric Vehicles with Independently Driven Front and Rear Wheels

Table 1

Basic parameters of the vehicle.

Parameters	Symbols	Units	Values
Gross mass	𝑚	kg	7000
Wheelbase (front, rear)	𝑙𝑓,𝑙𝑟	m	(2.262, 1.638)
Track width (front, rear)	𝑑𝑓,𝑑𝑟	m	(2.1, 2.1)
Centroid height	ℎ𝑔	m	0.9
Windward area	𝐴	m^2	3.9
Air drag coefficient	𝐶𝐷	—	0.65
Wheel rolling radius	𝑅𝑒	m	0.450
Rolling resistance coefficient	𝑓𝑟	—	0.015
Wheel rotational inertia	𝐼𝑊	kg·m^2	1.25
Rotary mass coefficient	𝛿	—	1.1794
Fixed reducer ratio	𝑖𝑔	—	3.36
Main reducer ratio	𝑖0	—	4.9152
Efficiency of transmission	𝜂𝑇	—	0.9
Motor peak/rated power	𝑃max/𝑃𝑁	kW	90/45
Motor maximum/rated speed	𝑛max/𝑛𝑁	rpm	6000/2000
Motor peak/rated torque	𝑇max/𝑇𝑁	N·m	430/215