Motion control in an electric vehicle with four independently driven in-wheel motors
Motion control in an electric vehicle with four independently driven in-wheel motors
We study methods of motion control for an electric vehicle (EV) with four independently driven in-wheel motors. First, we propose and simulate a novel robust dynamic yaw-moment control (DYC). DYC is a vehicle attitude control method that generates yaw from torque differences between the right and left wheels. The results of simulations, however, identify a problem with instability on slippery, low mu roads. To solve this problem, a new skid detection method is proposed that will be a part of traction control system (TCS) for each drive wheel. The experimental results show that this method can detect a skidding wheel, without any information on chassis velocity. Therefore, this method will be of great help during cornering or braking in a TCS. These methods will be integrated and tested in our new experimental EV.
Dokumentinformationen
Motion control in an electric vehicle with four independently driven in-wheel motors
IEEE/ASME Transactions on Mechatronics ; 4 , 1 ; 9-16
1999
8 Seiten, 13 Quellen
Aufsatz (Zeitschrift)
Englisch
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