Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Cornering Stability Control of a Personal Electric Vehicle with Direct-Drive In-Wheel Motors

직접구동 인 휠 모터를 장착한 1인승 전기자동차의 선회안정성제어

  • Nam, Kanghyun (School of Mechanical Engineering, Yeungnam University) ;
  • Eum, Sangjune (School of Mechanical Engineering, Yeungnam University)
  • 남강현 (영남대학교 기계공학부) ;
  • 엄상준 (영남대학교 기계공학부)
  • Received : 2016.04.18
  • Accepted : 2016.10.10
  • Published : 2016.11.01
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Abstract

This paper proposes a robust control design method for improving the cornering stability of a personal electric vehicle equipped with in-wheel motors. In general, vehicles undergo severe parameter variations and unpredictable disturbances with respect to a wide range of driving conditions (e.g., road surface conditions and vehicle velocity conditions). For this reason, robust control design techniques are required to guarantee consistent driving performances and robustness against various driving conditions. In this paper, an adaptive sliding mode control method is employed to enhance cornering stability by controlling the direct-drive in-wheel motors independently. Additionally, in order to confirm the effectiveness of a proposed control method, real driving tests with an experimental personal electric vehicle are performed.

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References

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