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The present paper describes a torque controller for a vehicle equipped with 4 electric motors, one at each wheel. The controller is set up to ensure two main functions: braking with anti-skidding and traction control using the electric motor torque as the unique actuator signal source. Unlike the torque generated by classic internal combustion engines, the torque of electric motors is available almost...
The present paper describes a longitudinal control strategy in time-varying road surface adhesion conditions, for a vehicle equipped with 4 in-wheel electric motors. The controller task is to ensure two main functions : braking (achieving an ABS-like function, i.e., no wheel skid), and traction control (TCS-like function, i.e., low wheel slip) using the electric motor torques as the unique actuators...
This paper presents a road condition estimator based on the wheel acceleration and a torque controller for a vehicle equipped with an electric motor. In the first step, the instantaneous friction coefficient and the maximum friction coefficient between the wheel and the road are estimated, without knowing a priori the road conditions. Next, a longitudinal controller is set up to ensure the two main...
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