An in-wheel motor-based tyre test vehicle

An experimental three-wheel electrical vehicle has been developed in order to provide a platform for experimental verifications of advanced tyre friction models, estimators and controllers. The vehicle comprises a high-torque permanent-magnet synchronous motor built in the front wheel and precise incremental encoders for the front- and rear-wheel speed measurements. The paper presents a description of the vehicle and gives characteristic experimental procedures and results related to motor static and dynamic behaviour. Experimental results on tyre friction identification are also presented.