Dynamic analysis of a two independent wheel drives electric vehicle, with a traction and a stability control system

This paper presents a two independent wheel drives electric vehicle (EV), with a traction and a stability control systems. In the first part of the paper a detailed dynamic model of the EV is presented and also some simulation results. Using electric motors it is possible to have a precise torque control in each wheel drive, that enables the implementation of a sophisticated control system. In order to assure that the vehicle runs at the stable zone, a traction control system is implemented. However, when the road surface is not homogeneous, this first control level is insufficient and a second control level is necessary. This combined control system improves the stability and the safety of the vehicle. Analysis, design and simulation results of the proposed system are presented.