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

研究了利用电机快速产生力矩的新型电动汽车运动控制技术。由于电动汽车是由电机驱动的，它具有以下三个显著的优点：1)电机扭矩产生快速准确；2)电机可以安装在两个或四个轮子上；3)电机扭矩可以精确知道。这些优势使我们能够很容易地实现：1)高性能的防抱死制动系统和牵引力控制系统，每个车轮有少量的反馈控制；2)底盘运动控制，如直接偏航控制；以及3)路面状况的估计。在过去的试验中，我们制造了UOT三月一号和二号，以及卡德韦尔-EV，并证实了所提出的方法的有效性。在这个研究项目中，我们制作了三个仅由超级电容器运行的C-com。超级电容器驱动这些车辆具有很大的优势：1)极长的寿命；2)大电流充放电；3)环保材料的使用；4)从终端电压可以知道剩余能量。C-coms可以在30秒内充电超过20分钟。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开发：(1)基于主控制器的牵引力控制(TCS)，(2)基于反电动势观测器的防滑控制，(3)混合ABS和TCS，(4)模拟单独励磁直流电机特性的粘着控制，(5)车身滑移角R的估计和控制，(6)基于横摆矩观测器的DYC，(7)基于刷子模型和驱动力观测器的g梯度和峰值μ估计，(8)利用驾驶员意愿估计来改善平顺性的实时速度模式生成器，(9)基于侧向力估计的驱动力分配控制，诸若此类。

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.