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Motion control in an electric vehicle with four independently driven in-wheel motors

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3 Author(s)
S. Sakai ; Dept. of Electr. Eng., Tokyo Univ., Japan ; H. Sado ; Y. Hori

We study methods of motion control for an electric vehicle (EV) with four independently driven in-wheel motors. First, we propose and simulate a novel robust dynamic yaw-moment control (DYC). DYC is a vehicle attitude control method that generates yaw from torque differences between the right and left wheels. The results of simulations, however, identify a problem with instability on slippery, low μ roads. To solve this problem, a new skid detection method is proposed that will be a part of traction control system (TCS) for each drive wheel. The experimental results show that this method can detect a skidding wheel, without any information on chassis velocity. Therefore, this method will be of great help during cornering or braking in a TCS. These methods will be integrated and tested in our new experimental EV

Published in:

IEEE/ASME Transactions on Mechatronics  (Volume:4 ,  Issue: 1 )