Abstract
In this paper, a novel robust rolling stability control (RSC) based on electronic stability program (ESP) for electric vehicle (EV) is proposed. Since EVs are driven by electric motors, they have the following four remarkable advantages: (1) motor torque generation is quick and accurate; (2) motor torque can be estimated precisely; (3) a motor can be attached to each wheel; and (4) motor can output negative torque as a brake actuator. These advantages enable high performance three dimensional vehicle motion control with a distributed in-wheel-motor system. RSC is designed using two-degree-of-freedom control (2-DOF), which achieves tracking capability to reference value and disturbance suppression. Generally, RSC and YSC are incompatible. Therefore, ESP, which is composed of estimation system(S1) and integrated vehicle motion control system(S2) is proposed. A distribution ratio of RSC and YSC is defined based on rollover index (RI) which is calculated in S1 from rolling state information. The effectiveness of proposed methods are shown by simulation and experimental results.
Highlights
1.1 In-wheel-Motor Electric Vehicle’s Advantages and Application to Vehicle Motion ControlElectric vehicles (EVs) with distributed in-wheel-motor systems attract global attention from the environmental point of view, and from the vehicle motion control
The purpose of this paper is to propose integrated rolling and yawing stability control (RSC and YSC)
Electronic stability program (ESP) on EV is introduced using rollover index (RI) based on vehicle geometry and dynamics model, which achieves integrated three dimensional vehicle motion control
Summary
1.1 In-wheel-Motor Electric Vehicle’s Advantages and Application to Vehicle Motion Control. In-wheel-motor EVs can realize high performance vehicle motion control by utilizing advantages of electric motors which internal combustion engines do not have. Motor torque response is 10-100 times faster than internal combustion engine’s one This property enables high performance adhesion control, skid prevention and slip control. Motor torque can be measured by observing motor current This property can be used for road condition estimation. There is no difference between acceleration and deceleration control This actuator advantage enables high performance braking control. Road condition and skid detection methods are developed utilizing the advantage that torque can be measured [1]. Side slip angle estimation and control methods are proposed by utilizing a distributed in-wheel-motor system [2] - [4]
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