Motion control in an electric vehicle with four independently driven in-wheel motors
Motion control in an electric vehicle with four independently driven in-wheel motors
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DOI：
10.1109/3516.752079
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发表时间：
1999-03-01
影响因子：
6.4
通讯作者：
Hori, Y
中科院分区：
文献类型：
--
作者：
Sakai, S;Sado, H;Hori, Y
In this paper, 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 Ir 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 wilt be integrated and tested in our new experimental EV.
