We study methods of motion control for an electric vehicle (EV) with four independently driven in-wheel motors. First, we propose and simulate a novel robust dynamic yaw-moment control (DYC). DYC is a vehicle attitude control method that generates yaw from torque differences between the right and left wheels. The results of simulations, however, identify a problem with instability on slippery, low mu roads. To solve this problem, a new skid detection method is proposed that will be a part of traction control system (TCS) for each drive wheel. The experimental results show that this method can detect a skidding wheel, without any information on chassis velocity. Therefore, this method will be of great help during cornering or braking in a TCS. These methods will be integrated and tested in our new experimental EV.


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    Title :

    Motion control in an electric vehicle with four independently driven in-wheel motors


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

    Published in:

    Publication date :

    1999


    Size :

    8 Seiten, 13 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English




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