駆動性向上を目指した超小型電気自動車の車輪速度制御(機械力学,計測,自動制御)

概要

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This study proposes new control systems to improve running stability of micro-scale electric vehicle by using electric motor. Electric motor has the following merits : fast response compared with both an engine and a hydro-mechanical actuator, easy controllability of torque and formulation of torque characteristic, small and high power. These merits make it more feasible to implement traction control system on electric vehicles than conventional vehicle powered by engines. In this paper, traction control system based on LQI control theory is proposed for electric vehicles. The controller is designed with the objective to follow the disired relative velocity between the wheel and the vehicle body, instead of slip ratio as the conventional method. Finally, the effectiveness of the proposed controller is verified by the computer simulation and experiment that uses small-scale electric vehicle with in-whell-motors.
社団法人日本機械学会の論文
2004-06-25