Reconfigurable Slip Vectoring Control in Four In-Wheel Drive Electric Vehicles

Round 1

Reviewer 1 Report

The paper is well written discussing an interesting topic

Author Response

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Author Response File: Author Response.pdf

Reviewer 2 Report

The work presents current topics related to electrically driven vehicles. The results of analytical and simulation studies are presented. However, the article is very long which makes it difficult to understand the aim of the research. The paper should be divided into two parts: analytical and simulation, but I leave this to the consideration of the authors of the paper. 

Minor revision:
1. Line 192 from new line " I) vehicle chassis (3-DOFs)..."
2. Fig. 1 add symbol "w" - omega angular velocity.
3. Equation (1):
Vx'=rVy+...
Vy'=-rVx+... why is -r should be +r.
4. Equation (1) third row should be:
r'=1/Jz{l_f[(-F_FLx+F_FRx)sind+(F_FLy+F_FRy)cosd]+l_w/2(F_FLy+F_FRy)sind-l_R(F_FLy+F_FRy)+(l_w/2)F_D(lambda)}
5. Equation (2) add the electric motor equation.
6. Equation (3b) transpose vector:[f_l, (l_w/2)f_D]T according to equation (25a).
7. Fig. 3 enlarge the font because the figure is not readable.
8. Add description of symbols from equation (10a): alpha_m, M.
9. Add symbol description from equation (11): g_mij(t).
10. Add description of symbol from equation (13): L_r.
11. Equation (15) transposed vector: M_c=[M_fL, M_fD]T according to equation (25a). Describe the symbols from the matrix: Y_FL, Y_FR, Y_RL, Y_RR, D_FL, D_FR, D_RL, D_RR.
12. Describe the symbols from equation (16): w_FL, w_RL, w_FR, w_RR.
13. Line 552 should be From (15).
14. Line 803 50 [Hz].
15. Fig. 11 larger fonts and comparison of waveforms as in Fig 9 and Fig 10.
16. Fig. 17 larger fonts. 
17. Fig. 18 larger fonts and different layout of figures (enlarge), move descriptions away from axes.
18. Fig. 21, 22, 23, 24, 25, 26 should have the same font size.
19. Fig. 27 how rotor flux and currents were determined. The current value is in the range of -111 A and 111 A, was the motor with energy recuperation if the value changes from plus to minus. The figure should be changed to two to make it clearer. The font should be larger.
20. What is the supply voltage to the drive motor if the current value is 111 A and the power is 37 kW.
21. Correct the reference to reference 1 (Pacejka).

In the reviewer's opinion, the work is interesting but too long. 

Author Response

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Author Response File: Author Response.pdf

Reviewer 3 Report

This paper proposes a reconfigurable slip vectoring control for distributed drive electric vehicles. The comments are listed:

1) There are so many symbols and abbreviations. It is recommended to add a list at the beginning of the paper.

2) The references are relatively old, and some latest researches can be updated. For example, like 10.1109/TTE.2021.3085849, 10.1109/TVT.2020.2980169.

3) It is recommended to add the contributions by manner of lists in the introduction to highlight your novelties.

4) The control method in this paper is PI control, which is simple but easy operated. So the experiments of real vehicle or hardware-in-the-loop are recommended.

Author Response

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Author Response File: Author Response.pdf

Reviewer 4 Report

This paper presents a reconfigurable Slip Vectoring control architecture for an 1067 electric vehicle equipped with 4IWMs. The following comments are provided to improve the quality of the paper.

1) The in-wheel motor dynamics considers an induction motor as power actuator. Authors should clearly describe the main advantages with respect to other kind of electric motors.

2) On Eq. (11), derivations of references electric currents should be described in detail.

3) The online estimation of the load torque should be explained and proved formally.

4) Explain clearly how Eq. (13) about the reference flux was obtained.

5) All system parameters and variables should be clearly described. A nomenclature list is recommended.

Author Response

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Author Response File: Author Response.pdf

Round 2

Reviewer 3 Report

none