Title :
Control Algorithm for an Independent Motor-Drive Vehicle
Author :
Kim, Jeongmin ; Park, Chiman ; Hwang, Sungho ; Hori, Yoichi ; Kim, Hyunsoo
Author_Institution :
Sch. of Mech. Eng., Sungkyunkwan Univ., Suwon, South Korea
Abstract :
A control algorithm is proposed for an independent motor-drive vehicle. A sliding-mode control is designed based on the slip ratio, yaw rate, and lateral acceleration of the vehicle to reduce the motor torque at each wheel. The performance of the control algorithm is evaluated by MATLAB/Simulink-CarSim cosimulation and experiments. A test car with two independent drive motors at the rear wheels is developed. From the simulation and vehicle test, it is found that the control algorithm improves vehicle performance.
Keywords :
motor drives; position control; torque control; variable structure systems; vehicles; wheels; MATLAB/Simulink-CarSim cosimulation; control algorithm; independent motor-drive vehicle; motor torque; rear wheels; sliding-mode control; Mechanical engineering; Motor drives; Permission; Sliding mode control; Stability; Torque control; Traction motors; Vehicle driving; Vehicles; Wheels; Independent motor drive; motor torque control; sliding-mode control;
Journal_Title :
Vehicular Technology, IEEE Transactions on
DOI :
10.1109/TVT.2010.2053566
