Motor Control Algorithm for a 6-Wheel Independent Drive Electric Vehicle

Author

Kim, Jeongmin ; Lee, Ryuk ; Lee, Jiseok ; Lee, Jeongyeob ; Kim, Hyunsoo

Author_Institution

Sch. of Mech. Eng., Sung Kyun Kwan Univ., Suwon

fYear

2006

Firstpage

2416

Lastpage

2419

Abstract

A motor control algorithm is proposed for a 6 wheel independent motor drive electric vehicle. An adaptive PD control is used to generate the direct yaw moment to compensate the yaw rate error. To calculate the yaw rate error, an imaginary steering angle is introduced with yaw rate gain. In order to evaluate the control algorithm, a ADAMS vehicle model is developed and ADAMS and MATLAB co-simulation is performed using the motor control algorithm. It is found that the vehicle performance can be improved by the independent motor control

Keywords

PD control; adaptive control; electric vehicles; error compensation; machine control; mathematics computing; motor drives; road vehicles; 6 wheel independent motor drive electric vehicle; ADAMS vehicle model; MATLAB; adaptive PD control; direct yaw moment; imaginary steering angle; motor control algorithm; yaw rate error compensation; Adaptive control; Electric vehicles; Error correction; MATLAB; Mathematical model; Motor drives; PD control; Performance evaluation; Programmable control; Wheels; Electric vehicle; Independent drive; Motor control algorithm;

fLanguage

English

Publisher

ieee

Conference_Titel

SICE-ICASE, 2006. International Joint Conference

Conference_Location

Busan

Print_ISBN

89-950038-4-7

Electronic_ISBN

89-950038-5-5

Type

conf

DOI

10.1109/SICE.2006.315112

Filename

4108046