In-wheel motor control system used by four-wheel drive electric vehicle based on whale optimization algorithm-proportional–integral–derivative control

Aiming to more accurately control the wheel speed of an electric vehicle (EV) driven by four in-wheel motors, a developed whale optimization algorithm-proportional–integral–derivative (KW-WOA-PID) algorithm is proposed herein. In this study, mathematical and simulation models are built for EVs analyzing mechanical structures motors. Simulations conducted, driving requirements motors obtained. Then, specific motor. The (WOA) optimized kent mapping adaptive weight coefficient improve ability jump out local optimum convergence accuracy WOA. Then further simulations conducted. results display that maximum overshoot adjustment time motor under KW-WOA-PID significantly optimized. speed-control bench test system motor, real-life experiments were experimental verify has higher better response performance; accordingly, can meet requirements. handling stability effectively improved controlling speed.