Title :
Future vehicle driven by electricity and Control-research on four-wheel-motored "UOT electric march II"
Author_Institution :
Inst. of Ind. Sci., Univ. of Tokyo, Japan
Abstract :
The electric vehicle (EV) is the most exciting object to apply "advanced motion control" technique. As an EV is driven by electric motors, it has the following three remarkable advantages: 1) motor torque generation is fast and accurate; 2) motors can be installed in two or four wheels; and 3) motor torque can be known precisely. These advantages enable us to easily realize: 1) high performance antilock braking system and traction control system with minor feedback control at each wheel; 2) chassis motion control like direct yaw control; and 3) estimation of road surface condition. "UOT Electric March II" is our novel experimental EV with four in-wheel motors. This EV is made for intensive study of advanced motion control of an EV.
Keywords :
adhesion; braking; electric vehicles; machine control; motion control; slip; torque measurement; traction; EV; UOT electric March II; adhesion control; antilock braking system; body slip angle estimation; electric motors; electric vehicle; feedback control; four-wheel-Motor; motion control; motor torque generation; road surface condition estimation; slip ratio control; traction control system; yaw control; Control systems; Electric motors; Electric vehicles; Feedback control; Motion control; Motion estimation; Torque; Traction motors; Vehicle driving; Wheels; ABS; Adhesion control; DYC; EV; SRC; TCS; antilock braking system; body slip angle estimation; direct yaw control; electric vehicle; estimation of road surface condition; motion control; slip ratio control; traction control system;
Journal_Title :
Industrial Electronics, IEEE Transactions on
DOI :
10.1109/TIE.2004.834944
