Simulation of Motion Control for Electrical Vehicle with Two Independently Driven In-Wheel Motors
Date Issued
2010
Date
2010
Author(s)
Lee, Chia-Lung
Abstract
The object of this thesis was to simulate a DYC scheme on a electrical vehicle with two independent driven in-wheel motors operating in a wide range of speed(10~70 km/h). The simulation was carried out in the software environment which was constructed using CarSimR and MATLAB/SimulinkR. And the control object was to reduce the slip angle at the center of gravity of vehicle which was designed to eliminate the error between the vehicle heading and the direction of motion and to suppress the high vehicle slip angle gain at high speed. The simulation results presented that there was a limit while applying a DYC scheme to manipulate the yaw response of a vehicle due to the costly theoretic yaw moment requirement, especially at low speed range. Finally, this thesis introduced a tunable parameter to lower the desired yaw rate to achieve zero vehicle slip angle as closely as possible and a discussion of how the DYC scheme effect vehicle slip angle gain and yaw rate gain.
Subjects
Vehicle Dynamics
In-Wheel Motor
Direct Yaw Moment Control
Type
thesis
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