Motion Control for Electrical Vehicle with Two Independently Driven In-Wheel Motors
Date Issued
2007
Date
2007
Author(s)
Xing, Xian-Yee
Abstract
This thesis proposed an electrical vehicle motion control system including two parts: (1) Lateral vehicle motion control: An outer-loop direct yaw moment control (DYC) scheme is established to manage the yaw motion of vehicle during cornering. (2) Longitudinal vehicle motion control: An inner-loop model reference adaptive control (MRAC) base on the Lyapunov theory is applied to compensate the speed response of the two driving wheels for the improvement longitudinal vehicle motion and gain the system robustness. Furthermore, the optimal phase current waveform control is applied in this thesis to improve the efficiency of motor. In experiments, the inner-loop DYC is constructed with MATLAB®/Simulink® software and performed through a PC; at the same time, the current control and inner-loop MRAC are implemented with an EPF10KE Field Programmable Gate Array (FPGA) coded by using Verilog hardware description language (Verilog HDL) in fixed-point arithmetic format so as to relieve the complex logic circuit synthesis in FPGA and time-consuming computations. Finally, the advantages of the proposed methodologies is verified by employing the commercial vehicle “Nissan March”, which is reconstructed to be driven directly by two in-wheel motors.
Subjects
electric vehicle (EV)
in-wheel motor
Field Programmable Gate Array (FPGA)
fixed-point arithmetic format
Type
thesis
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