Advanced motion control of electric vehicle with fast minor feedback loops: basic experiments using the 4-wheel motored EV “UOT Electric March II”

Abstract

Electric motors in electric vehicles (EVs) has quite fast torque response, thus fast minor feedback loops can be applied for vehicle motion stabilization. This paper clarified that such feedback loop can stabilize the dynamics of driven wheel on the slippery road surface. With such loop, driven wheel has large inertia equivalently. It can stabilize the vehicle's lateral dynamics, if minor feedback loops are independently installed in the driven wheels. This effect was demonstrated with simulations and experiments. It suggests the effectiveness of minor feedback loops in the total control system like direct yaw moment control (DYC). This paper also introduces our novel 4-motored EV “UOT Electric March II”, which is newly constructed for these experiments.