In this paper, novel skid detection method for electric vehicle (EV) was proposed and discussed. This proposed method can detect skid of wheel with only the values of current and rotating velocity of each motor, in other words, with only the information of motor itself. Estimation of vehicle chassis velocity or wheel absolute velocity is not required any more, and this is remarkable advantage over conventional methods. In this proposed method, traction force is estimated with simple disturbance observer, thus the exact value of shaft input torque is required. lt is quite easy for EV's, but not for internal combustion engine vehicles (ICV). lf the output torque of internal combustion engine can be estimated practically, proposed method will be applicable also for ICV. However, this paper excludes such discussion about ICV. The proposed algorithm was examined with experiments with laboratory-made electric vehicle 'UOT Electric March I'. The experiments were carried out with three road conditions: dry asphalt, snowy road and wet iron. These experimental data show the effectiveness of the new skid detection method, however, identification problem for small variation of Fm, is also pointed out. This problem remains for further studies. Simple simulation was also carried out to show the effectiveness of the proposed skid detector in skid prevention. The simulation results indicate that serious skid can be avoided with proposed skid detector. During this skid prevention, driving force Fd is almost maintained in its maximum value. Therefore, the basic possibility of skid prevention with proposed method is confirmed. Proper design of the controller still remains for further studies, and demonstrations with experiments should be also carried out. The authors are now constructing the new experimental EV 'UOT Electric March II' which has independently controlled four in-wheel motors. Proposed skid detector requires no information about vehicle chassis velocity or slip ratio, thus, this method should be significantly effective for skid prevention in cornering vehicle. Therefore, cooperative control of proposed skid avoidance method and DYC, control of vehicle chassis motion with torque difference, seems to have a great possibility. It will also be studied experimentally with the new EV.


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    Titel :

    Novel wheel skid detection method for electric vehicles


    Weitere Titelangaben:

    Ein neuartiges Verfahren zur Identifikation des Radschleuderns bei Elektrofahrzeugen


    Beteiligte:
    Sakai, S.I. (Autor:in) / Sado, H. (Autor:in) / Hori, Y. (Autor:in)


    Erscheinungsdatum :

    1999


    Format / Umfang :

    10 Seiten, 20 Bilder, 10 Quellen


    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Print


    Sprache :

    Englisch




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