The actuator of electric vehicle is electric motor, which has excellent performance for motion control applications. Its torque response is quite fast and accurate, and it can be distributed for several wheels. This paper proposes stable lateral motion control method of EV, based on these advantages. With fast torque response, linear feedback controller can be applied. The anti-slip control can be achieved with feedback of wheel velocity, which is easily measured. If every wheel has driving motor, this anti-slip controller can be applied for every wheel. These motor-controlled wheels affect the vehicle lateral motion on slippery road. Our simulations and experimental results both indicate that vehicle with motor-controlled wheels have stabilized lateral dynamics. These wheel feedback controllers are the independent ones, therefore, can be minor loops of another controller. In the latter part of this paper, the effects of these minor loops are studied, when combined with lateral motion controller. The simulation results show that motor-controlled wheels improve the stability of direct yaw-moment control (DYC), which is a typical lateral motion controller. It suggests an advanced control system of total vehicle motion of EV, which is an integration of longitudinal and lateral control.


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    Title :

    Stable lateral motion control with motor-controlled wheels


    Additional title:

    Stabile, laterale Steuerung bei Radnabenmotor getriebene fahrzeuge


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


    Publication date :

    2002


    Size :

    12 Seiten, 16 Bilder, 9 Quellen


    Type of media :

    Conference paper


    Type of material :

    Storage medium


    Language :

    English





    Lateral stability of wheels

    Oswald, W. | Engineering Index Backfile | 1930



    MOTOR TRUCK WHEELS

    SLADE, ARTHUR J. | SAE Technical Papers | 1913


    Motor car wheels

    Walford, E.W. | Engineering Index Backfile | 1904