Modeling of a single wheel test bench for blended electric and hydraulic brake testing

Electric vehicles offer several possibilities of reinventing the vehicle powertrain layout. A very promising solution is represented by in-wheel motors (IWM) since the driving torque can be easily distributed among the wheels. Moreover, IWM can provide braking, thus regenerative, torque. However, the size of IWM is not enough to brake the car at maximum deceleration, hydraulic brakes are still necessary. It is of paramount importance to coordinate these two actuators thus avoiding possible instabilities. This paper presents a test bench to test control strategies for blended electric and hydraulic braking control strategies.