Anti-Slip and Motion Control of An Electric Vehicle Driven by two Rear Wheel Motors
Date Issued
2010
Date
2010
Author(s)
Abstract
This paper proposes a current distribution control and an anti-alip control for an electric vehicle driven by two rear wheel motors. Two wheel motors are installed inside the two rear wheels of an electric vehicle. The performance of motors may be different due to imperfect manufacturing or aging, and the road conditions may vary from time to time. Therefore, for the same current input may result in a different output torque on each wheel.
To guarantee the two wheel motors to receive the same speed-control command when driving forward, the driver’s current command is transferred to the speed-control command in accordance with a model-following control(MFC). Also by appropriate current distribution of two MFCs, two rear wheel motors generate different speed for vehicle to make turn. A velocity command compensation is used to make sure that driver''s current command is no less than the total current supply to motors. The key of anti-slip control scheme is also proposed. The maximum driving force is estimated and compared with the driving force produced by motors whose torque is identified by a load estimator. If motor torque is larger than the load torque, the control system will reduce the current command which causes motor to decelerate to prevent the vehicle from slipping, and reduce the slip of vehicle.
In this thesis, the control scheme is proved to be stable in all conditions. The model is constructed and simulated on Matlab. Simulation results show that the vehicle can be driven in such a safe condition that the current supplied to both wheels must be always less than the driver''s current cpmmand, and the output torque of motor is adjusted to prevent the vehicle from slipping.
Subjects
electric vehicle
wheel motor
anti-slip
current distribution
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