With global warming and promotion of green energy, electric cars are being considered as one of the most favorable options for personal transportation. In this research, an electric vehicle actuated by two in-wheel motors is developed in house. In this vehicle, by properly coordinating the traction torques generated by the two motors, both drive-by-wire and electrical power steering can be simultaneously achieved. The interaction among the driver, the steering mechanism, motor torques, and the vehicle dynamics plays a crucial role in devising the control system particularly for the power steering part and there are two control-related problems needed to be addressed in this case. Firstly, in order to continuously control the traction torques, the motors should be switched smoothly between different modes of operation. Secondly, when either one of the motor currents saturates, a compensation action is needed to properly re-distribute the traction command so that consistent steering performance can be achieved. The control system which solves these two problems is implemented on the prototype vehicle and the performance associated with driving and steering is experimentally validated.
Control of electric vehicles using two in-wheel motors
Regelung von Elektrofahrzeugen mit Hilfe von zwei Radnabenmotoren
2010
8 Seiten, 16 Bilder, 10 Quellen
Conference paper
English
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