A Novel Traction Control without Chassis Velocity for Electric ... - MDPI

0 downloads 0 Views 809KB Size Report
output in real time based on a purely kinematic relationship, and then proposes an innovative controller to ... 3) Independently equipped motors for each wheel.
Page 0282

World Electric Vehicle Journal Vol. 3 - ISSN 2032-6653 - © 2009 AVERE

  /1*#!-+-233  

          "'2+&+,& %&,/& 

!,-/)!*/+"(!/-%(*#%*!!-%*#*%1!-.%/3+"+'3+++)!   +)!#0-++'3+,* 3%*$+-%(%%.0/+'3+&, 

*./%/0/!+"* 0./-%(%!*!*%1!-.%/3+"+'3+++)!   +)!#0-++'3+,* $+-%%%.0/+'3+&,

   "0"/ % ,+ *,1&,+ ,+1/,) ,# ")" 1/&  3"%& )"0 %0 -/,$/"00"! ,+0&!"/)6 21 1/ 1&,+ ,+1/,) %0 +,1 ""+0,0,-%&01& 1"!+!-/ 1& )" 20"1%"3"), &16,#3"%& )"0+!1%"#/& 1&,+#,/ "/"&**"02/)" %&04,/(1("0!3+1$",#1%"#"12/"0,#!/&3&+$*,1,/01,"01&*1"1%"*5&*2*1/+0*&00&)"1,/.2" ,21-21&+/")1&*"0"!,+-2/")6(&+"*1& /")1&,+0%&-+!1%"+-/,-,0"0+&++,31&3" ,+1/,))"/1, #,)),41%""01&*1"!3)2"!&/" 1)6+! ,+01/&+1%"1,/.2"/"#"/"+ "#,/0)&--/"3"+1&,+6 ,*-/&0,+ 4&1%-/&,/ ,+1/,)*"1%,!01%"/"02)1&+$ ,+1/,)!"0&$+--/, %&00%,4+1,"*,/""##" 1&3"+!/,201 ,++"5-"/&*"+1)")" 1/& 3"%& )"+!!&1&,++"4/ %&1" 12/"#,/14,!&*"+0&,+)3"%& )"01&)&16 ,+1/,)0601"*&0&+1/,!2 "!0"!,+1%"-/,-,0"!1/ 1&,+ ,+1/,) !32+- . (!/-%!$%(!+/%+*+*/-+(-/%+*+*/-+(*/%(%,!*.+-(!..

    / 1&,+ ,+1/,) 0  -/&*/6 ,+1/,) #,/ 3"%& )"0&0!"3"),-"!1,"+02/"1%""##" 1&3"+"00 ,# 1%"1,/.2",21-21%" ("6 1,1/ 1&,+ ,+1/,) &0 +1&0)&- ,+1/,) "0-" &))6 #,/ )&$%1 3"%& )"0 " 20" 1%"6 /" *,/" &+ )&+"! 1, 0(&! ,+ 0)&--"/6 /,!0 / 1&,+ ,+1/,) *201 +,1 ,+)6 $2/+1"" 1%" "##" 1&3"+"00 ,# 1%" 1,/.2" ,21-21 1, *&+1&+ 3"%& )" 01&)&16 21 )0, -/,3&!" 0,*" &+#,/*1&,+ ,21 1&/"/,! ,+!&1&,+0 1, ,1%"/ 3"%& )" ,+1/,) 0601"*0 ,/",3"/ 0"! ,+ 1%" ,/" 1/ 1&,+ ,+1/,) *,/" ,*-)& 1"! 14,!&*"+0&,+)*,1&,+ ,+1/,)#,/3"%& )"0 + " 06+1%"0&7"! 6 &+1/,!2 1&,+ ,# 0,*" &+#,/*1&,+ ,+ 01""/&+$ +$)" 64 /1" "1  /,* 1%" 3&"4-,&+1 ,# 1%" /")1&,+ "14""+ 0#"16+! ,01*,/"!3+ "!1/ 1&,+ ,+1/,) 06+1%"0&0)0,*"+0),4"/"+"/$6 ,+02*-1&,+ ,4"3"/  12) 3"%& )"0 -/"0"+1  %))"+$" 1, /"0"/ % ,+ 1/ 1&,+ ,+1/,) ,/ "5*-)" 1%"

/") %00&0 3"), &16 &0 +,1 3&))" +! 1%" #/& 1&,+ #,/ " 4%& % !/&3"0 1%" 3"%& )" &0 &**"02/)" )1%,2$% +1&), ( /(&+$ 0601"*   +! 1/ 1&,+ ,+1/,) 0601"*  %3" ""+ 4&!")6 --)&"! &+ ,+3"+1&,+) &+1"/+) ,*201&,+"+$&+"3"%& )"01%"6+""!"51/ ,+1/,)2+&10+!%6!/2)& *,!2)"02/1%"/*,/" 1%"&/ -"/#,/*+ " +! 2+&3"/0) --)& &)&16 /" %&+!"/"! 6 1%" # 1 1%1 1%"&/ ,+1/,) !"0&$+ &0 0"! ,+ "*-&/& ) !1 /1%"/ 1%+ $"+"/) +)61& )1%",/6 %"!3+1$"0,#")" 1/& 3"%& )",##"/0,*"+"4 --/, %"01,1%&0-/,)"*04"))01,1%"$),) -/,)"*0 ,# 1%" "+3&/,+*"+1 +! +,+/"+"4)" /"0,2/ "0    /,* 1%" 3&"4-,&+1 ,# *,1&,+ ,+1/,) ,*-/"! 4&1%  3"%& )"0 1%" !3+1$"0,#")" 1/& 3"%& )"0 +"02**/&7"! 0#,)),40   2& (1,/.2"$"+"/1&,+ 061,/.2"*"02/"*"+1

 +1"/+1&,+)11"/66/&!+!2")")))" 1/& "%& )"6*-,0&2*



Page 0283

World Electric Vehicle Journal Vol. 3 - ISSN 2032-6653 - © 2009 AVERE

6-.8.6-.6