Electric vehicle modeling utilizing DC motor equations

This paper discusses modeling an electric utility vehicle powered by a separately wound DC motor. Many modeling techniques use steady state efficiency maps and torque-speed curves to describe the performance of electric motors, which can overlook transient response dynamics, current limits, and thermal limits that may affect the end vehicle performance. This paper discusses using bond-graph techniques to develop a causal model of an electric vehicle powered by a separately wound DC motor and development of the appropriate feedforward and feed-back controllers required for route following. The causal model performance is compared to a PSAT model of the same electric vehicle, which uses motor torque-speed curve and efficiency map.