Title :
Vehicle stability improvement based on MFC independently installed on 4 Wheels-basic experiments using "UOT Electric March II"
Author :
Okano, Takahiro ; Hwa, Tai Chien ; Inoue, Tomoko ; Uchida, Toshiyuki ; Sakai, Shin-Ichiro ; Hori, Yoichi
Author_Institution :
Sch. of Eng., Univ. of Tokyo, Japan
Abstract :
The focus of the authors´ research is on exploiting the excellent control characteristics of the electric motor in realizing advanced vehicle motion control. To this end, they have built an electric vehicle (EV) fitted with 4 in-wheel motors. Rapid independent torque control of each motor is realised through a real-time operating system. With this vehicle, the authors performed experiments to verify control methods which they have formulated, e.g., model following control (MFC). The detection of road conditions and wheel-skid are also planned. All these new techniques are possible only on the EV due to its rapid and accurate torque response
Keywords :
braking; control system synthesis; electric vehicles; machine control; machine testing; machine theory; model reference adaptive control systems; motion control; stability; torque control; traction motors; anti-lock braking system; control design; direct yaw moment control; electric vehicle; model following control; motion control; rapid independent torque control; real-time operating system; vehicle stability improvement; Automobiles; Control systems; Electric motors; Electric vehicles; Engines; Motion control; Roads; Stability; Torque; Wheels;
Conference_Titel :
Power Conversion Conference, 2002. PCC-Osaka 2002. Proceedings of the
Conference_Location :
Osaka
Print_ISBN :
0-7803-7156-9
DOI :
10.1109/PCC.2002.997582
