Simulation Study on a Slip Control Technique Combined with a Vibration Suppression Control for a Geared Wheel Drive System Applied to a Small EV

This paper deals with a vibration suppression control technique and a slip control technique for a geared wheel drive system to be installed in a small electric vehicle (EV). In general, the geared wheel drive system has smaller installation volume than the direct-drive motor system for a small vehicle. However, vibration phenomena will be generated inside the geared system due to the weakness of a torsional stiffness of a shaft and a gear train, and deteriorate the stability of the vehicle. To solve these problems, a simple vibration suppression technique using a model-based control and a velocity-compensation control between the front wheels are proposed. The effectiveness of the model-based control and the slip suppression control are verified by simulations on the time responses in straight movement and turning motion of the vehicle.