This thesis evaluates an electric vehicle with four independently-controlled in-wheel
electric motors. The electric vehicle investigated in this work requires a main con-
troller that not only coordinates with each individual motor drive controller, but is
also needed to distribute torque and power to each in-wheel motor. The controller
adjusts the speed of each motor to the driving conditions according to the require-
ments and emulates the behavior of a mechanical di erential. Then, in addition to
the electronic di erential controller, a simple yet robust control strategy for maximiz-
ing traction force between tire and road is developed and presented. Moreover, the
controller continuously senses the yaw rate and prevents over- and under-steering by
adjusting the torque on the right or left wheels. Simulation and experimental results
validate the proposed strategy.
| Identifer | oai:union.ndltd.org:MANITOBA/oai:mspace.lib.umanitoba.ca:1993/30601 |
| Date | January 2015 |
| Creators | Hajihosseinlu, Amin |
| Contributors | Filizadeh, Shaahin (Electrical and Computer Engineering), McNeil, Dean (Electrical and Computer Engineering) Wu, Nan (Mechanical Engineering) |
| Publisher | IEEE |
| Source Sets | University of Manitoba Canada |
| Detected Language | English |
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