Research on Future Vehicle Motion Control Technology by Capacitor Driven Small Electric Vehicles

研究了利用电动机快速产生转矩的电动汽车运动控制新技术。电动汽车由电动机驱动，具有以下三个显著优点：1)电动机转矩产生快速、准确；2)电机可安装在两轮或四轮；3)可以精确地知道电机转矩。这些优势使我们能够轻松实现：1)高性能的防抱死制动系统和牵引力控制系统，每个车轮都有轻微的反馈控制；2)底盘运动控制，如直接偏航控制；3)路面状况估算。在过去，我们制造了测试车辆UOT march - 1和II，以及Cadwell-EV，并证实了所提出方法的有效性。在本研究项目中，我们制作了三个仅由超级电容器驱动的C-COMS。超级电容器驱动这些车辆的巨大优势在于：1)极长的使用寿命；2)大电流充放电；3)环保材料的使用；4)剩余能量由端子电压可知。C-COMS充电30秒可使用20分钟以上。它将解决电动汽车最大的问题，并可能改变我们的生活方式。我们在以下方面进行了研究：(1)基于MFC的TCS（牵引力控制），(2)基于反电动势观测器的防滑，(3)ABS和TCS的混合动力，(4)模拟单独励磁直流电机特性的附着控制，(5)车身滑移角R的估计和控制，(6)基于偏航力矩观测器的DYC，(7)基于电刷模型和驱动力观测器的g梯度估计和峰值μ估计，(8)基于驾驶员意愿估计的实时速度模式生成器，以提高乘坐舒适性。(9)基于侧力估计的驱动力分布控制等。

Novel motion control techniques for Electric Vehicle (EV) by utilizing the electric motor's quick torque generation were researched. As an EV is driven by electric motors, it has the following three remarkable advantages: 1) motor torque generation is fast and accurate; 2) motors can be installed in two or four wheels; and 3) motor torque can be known precisely. These advantages enable us to easily realize: 1) high performance antilock braking system and traction control system with minor feedback control at each wheel; 2) chassis motion control like direct yaw control; and 3) estimation of road surface condition. In the past, we made test vehicles UOT March-I and II, and Cadwell-EV, and confirmed the effectiveness of the proposed methods. In this research project, we have made three C-COMS's which run only by super-capacitors. Super capacitor to drive these vehicles has great advantages in: 1) extremely long life; 2) large current charge and discharge; 3) environmental friendly material usage; and 4) remaining energy can be known from terminal voltage. C-COMS can nun more than 20 minutes by 30-second charge. It will solve the biggest problem of EV and may change our life-style. We performed developments in (1) TCS (traction control) based on MFC, (2) Slip prevention using Back-EMF Observer, (3) Hybrid ABS and TCS, (4) Adhesion Control emulating Separately Excited DC Motor's Property, (5) Estimation and Control of Body Slip Angle R, (6) DYC based on Yaw Moment Observer, (7) Estimation of g Gradient and Peak μ Estimation using Brush Model and Driving Force Observer, (8) Realtime Speed Pattern Generator to Improve Ride-comfort using Driver's Will Estimation, (9) Driving Force Distribution Control based on Estimation of Side Force, and so on.