Two wheels electric vehicle modelling: Parameters sensitivity analysis

Nowadays, electric vehicles represent one of the most significant chances to reduce the pollution production rate. Unfortunately, in electric motors, the efficiency decreases by the relationship between speed proposed by the driver and the torque required by the vehicle. Those parameters can be estimated in order to make an efficiency optimization based on present and future road/weather conditions. Regrettably, this kind of control (optimal control) requires a model with low compilation time. Since bicycle motorcycle has nonlinearities, in this article, a state reduced linear dynamic model able to reproduce the behavior of a TWEV by more than one minute will be proposed. The model is oriented to an optimal controller in energetic field, for this reason, the most significant states are longitudinal speed to be used with the input torque to calculate the efficiency of the electric motor and the Yaw angle to creates constraints over the trajectory that has to be covered. After the model is proposed, its accuracy is tested by a comparison with a numerical iteration software. Finally, a sensitivity test is made in order to determine the behavior of the error according to the friction coefficients of the rear and front pneumatics.