The InDrive simulator is a powerful vehicle that can emulate the longitudinal dynamics of other vehicles. To do so, the simulation system modifies the driver's commands so that the vehicle behaves identically to the simulated vehicle. Based on the requirements of the simulation system as well as the safety concept, a market analysis was performed to select an adequate electric drive as well as appropriate power electronics. In the course of the project it became clear that it would be advantageous to split the drive power and have it applied with several distinct drives. The chosen topology of the drive train will be presented in this contribution. The motor control unit was required to provide greatest flexibility so that it can be readjusted to meet the particular requirements that were still in the progress of being defined. The Motor control unit (MCU) is an inhouse-development of the Institute of Control Engineering to provide greatest possible flexibility to take account for the still-to-be defined requirements in the early stages of the project. This high-performance control unit is comprised of several processor systems with different specializations as well as peripheral units to achieve optimum performance, accuracy and safety levels. A detailed overview over this controller hardware will be given in this contribution. For highest operational standards for accuracy and safety features, torque estimation must be optimized above all. Induction machines were chosen as machine type. As it is impracticable to directly measure the torque, it must be estimated and estimation errors can easily reach higher two-digit percentages, depending on the complexity of the control, i.e. estimation system. The implemented measures to provide a precise torque control, e.g. the identification procedures for the motors and their saturation dependent parameters as well as the nonlinear frequency inverter characteristics will be outlined. The influence and ramifications of the frequency inverter's voltage error (due to system inherent dead times) on the identification and control scheme as well as the influence of converters and resolution of the inverter's pulse width modulation (pwm) will be highlighted. Furthermore, the control structure and the integration and adaptation of the identified nonlinear characteristics (i.e. saturation effects, offset errors etc.), as well as techniques to compensate them, will be presented.


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