Linear drive device for in-wheel system and control method using same

The invention relates to a linear driving device of an in-wheel system and a control method using the same. A control method for linear driving of an in-wheel system comprises the steps of: a) measuring vehicle alignment; b) calculating a yaw rate based on the vehicle misalignment level; c) determining whether the yaw rate calculated in step b) is greater than a predetermined allowable yaw rate; d) maintaining a linear movement of the vehicle by using vector control when the yaw rate calculated in step b) is greater than a predetermined allowable yaw rate; e) calculating an equivalent steering angle for each wheel based on the vehicle misalignment level and a deviation between the left and right torques of the motor obtained when the vector control is performed; and f) determining whether each wheel is defective based on the equivalent steering angle. 本公开涉及轮内系统的直线驱动装置和使用其的控制方法。用于轮内系统的直线驱动的控制方法包括以下步骤：a)测量车辆对准；b)基于车辆未对准水平计算横摆率；c)确定在步骤b)中计算的横摆率是否大于预定可允许横摆率；d)当在步骤b)中计算的横摆率大于预定可允许横摆率时，通过使用矢量控制保持车辆的直线移动；e)基于车辆未对准水平