One remarkable merit of EV is the electric motor's excellent performance in motion control. This merit can be summarized as: (1) torque generation is very quick and accurate, (2) output torque is easily comprehensible, (3) and motor can be small enough to be attached to each wheel. To utilize these advantages of EV, we have carried out some studies on motion control of EV. Our final target is to enhance the vehicle stability of EV, with feedback control techniques and motor's performance. First of this paper, the feedback control of wheel velocity is discussed. The purpose is to avoid the dangerous wheel skid during rapid brake and acceleration, similar to that of ABS (anti skid brake system) or WS (traction control system). This proposed controller increases the wheel inertia equivalently. The driven wheel seems to have 'large' inertia, and this prevent the sudden wheel skid. We have carried out some experiments with actual EV and slippery road to confirm this effect. In the next part, the vehicle lateral stability will be discussed. As commonly known, the vehicle lateral motion can be sometimes unstable, especially cornering and/or braking on snowy or wet road condition. As mentioned above, each wheel of EV can be attached one motor, such as in-wheel motor. The simulation results show that this '4 wheel-motored' EV can prevent such unstable lateral motion on the slippery road, with the autonomy stabilization of each wheel with wheel velocity control. At last, the cooperative control of regenerative control and hydraulic ABS have been introduced. In this method, regenerative braking is controlled to have 'large' inertia against hydraulic braking torque. This is a minor loop controller, which enhances the short-time dynamics of ABS and decrease the braking distance.


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    Title :

    Lateral motion stabilization of 4 wheel-motored EV based on wheel skid prevention


    Additional title:

    Seitenstabilisation eines Elektrofahrzeugs mit vier Radnabenmotoren auf der Basis der Antischlupfregelung


    Contributors:
    Sakai, S.I. (author) / Kitagawa, K. (author) / Hori, Y. (author)


    Publication date :

    2000


    Size :

    15 Seiten, 19 Bilder, 2 Tabellen, 9 Quellen


    Type of media :

    Conference paper


    Type of material :

    Storage medium


    Language :

    English





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