Stability Control of 4 Wheel Motored Electric Vehicle utilizing Electric Motor's Advanced Controllability

电动汽车具有汽油发动机汽车所不具备的许多优点，一是利用电机的快速扭矩响应实现牵引力控制，二是利用多轮驱动汽车实现高性能的汽车姿态控制。这一次，我们开发了第二辆UOT三月二号，四轮摩托车辆。主要在二维车辆姿态控制方面取得了以下研究成果：(1)粘着控制研究了采用粘着控制的电动轨道车辆和内燃机车辆ABS系统。研究了轮胎摩擦力和滚动阻力的产生机理。对已提出的最优滑移率控制、最优滑移率控制等部分控制器参数进行了优化。(2)路况估计提出了驱动力观测器，即n…。更需要作为路况估计器的附着力控制。应用固定迹法由滑移率和道路摩擦系数的时间导数估计道路摩擦曲线的斜率。开发了基于精确轮胎模型和非线性搜索算法的最大摩擦系数估计技术、无需车速的打滑检测方法等。(3)二维车辆姿态控制研究了基于非线性状态方程的车辆姿态稳定技术。例如，考虑牵引力饱和的防横摆角速度控制、紧急情况下的最大制动力控制及其在驾驶员转向作用下的防滑控制、动态驱动力分配控制等方面的应用。4电动汽车可以直接产生横摆力矩作为控制输入变量，实现了一个与传统的4WD或4WS汽车完全不同的系统。(4)实车制造和实验我们花了很大力气制作了手工制作的UOT 3月2日，它已经完成，我们还在一家轮胎制造商的测试课程上进行实验。我们预计在不久的将来会有更多的实验结果。当我们成功地进行上述技术开发时，轮胎打滑的危险将大大降低，高性能的姿态控制将提高在光滑道路上驾驶的安全性，如果我们使用更低损耗的轮胎，我们可以增加一次电池充电的里程。总而言之，我们可以说，我们已经成功地进行了基础实验，展示了电动汽车在“控制”方面的巨大优势。较少

Electric vehicles (EV) have much advantage which is not in gasoline engine vehicles, One is the traction control utilizing electric motor's quick torque response and another is the high performance vehicle attitude control by multi motored-wheel vehicles.On the first subject we developed novel adhesion control methods and good experimental results were obtained by using UOT March I, which is our first test vehicle. This time, we developed the second vehicle UOT March II, 4 motored wheel vehicle. and the following results have been obtained mainly on the two-dimensional vehicle attitude control.(1) adhesion controlWe investigated electric rail cars and ABS systems of gas engine vehicle, where adhesion control are being applied. We also studied generation mechanism of tire friction force and rolling resistance. We optimized some controller parameters of already proposed MFC, the optimal slip ratio control, etc.(2) road condition estimationWe proposed the driving force observer which is n … More eeded for adhesion control as the road condition estimator. We applied the fixed trace method to estimate the slope of the road friction curve form time derivatives of the slip ratio and the road friction coefficient. Also, we developed the maximum friction coefficient estimation technique using precise tire model and nonlinear search algorithm, skid detection method without using vehicle speed, and so on.(3) two-dimensional vehicle attitude controlWe developed various types of vehicle attitude stabilization techniques using nonlinear state equations expressing vehicle dynamics. For example, anti-windup yaw rate control considering traction force saturation, maximum braking force control at emergency and its application to anti-spin control with drivers' steering action, dynamic driving force dispatch control, and so on. 4 motored EV can generate the yaw moment force directly as the controlled input variable, which realizes a completely different system from the conventional 4WD or 4WS vehicles.(4) manufacturing of the real vehicle and experimentsWe took much effort in making the hand-made UOT March II.It was completed and we are still performing experiments on a tire maker's test course. We expect much more experimental results in the near future.When we will succeed in the above technology development, danger of tire slip will be reduced drastically, safety of drive on slippery road will be increased by high performance attitude control, and if we use lower loss tire we can increase the range of one battery charge. In summary, we can say that we have succeeded in basic experiments to show great advantage of electric vehicles in "control". Less